• 한국경영정보학회:학술대회논문집
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• 2008.06a
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• pp.79-84
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• 2008

Haptics, the science and physiology of the sense of touch, has been investigated in the field of engineering and HCI to provide better computing environments for users. Previous haptic technology being focused was mainly on the PC environments; however, beginning with the i-Phone of Apple recent haptic technology has entered our daily lives. Despite its popularization, the business opportunities the technology will bring have not yet been investigated thoroughly. This research forecasts the application of haptic technology on mobile devices and the consequential business opportunity. Also, the direction of future research in the field of MIS will be proposed.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.390-395
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• 2009

In this paper, we present practical issues in a Mobile Haptic Interface (MHI) and their improvements. The improvements can be categorized in three parts: 1) high-accuracy estimation of the world position of the haptic interface point, 2) motion planning algorithm to move the mobile base while avoiding collisions with the user and other objects, and 3) closed-loop force control to compensate the undesired effect of mobile base dynamics on the final rendering force perceived by the user.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.2068-2071
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• 2009

This paper presents a multiple degree-of-freedom (dof) energy bounding approach (EBA) to enhance directional transparency while guaranteeing stability for multiple-dof haptic interaction. It was observed that the passivity condition for multiple ports may lead to some oscillatory limit cycle behaviors in some coordinate directions even though the total sum of energy flow-in is positive, meaning that the system is passive. The passivity condition, therefore, needs to be applied to each coordinate in order to avoid oscillatory behavior by keeping each energy flow-in always positive. For guaranteeing passivity, which in turn, stability in each coordinates, the EBA is applied. For multiple-dof haptic interaction, however, the EBA in each coordinate may distort the direction of the force vector to be rendered since the EBA may cut down the magnitude of the force and torque vectors to be rendered in order to ensure the passivity. For avoiding this problem, a simple projection method is presented. The validity of the proposed algorithm is shown by several experiments.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.164-172
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• 2013

This paper presents a new concept of a 1-DOF elbow exoskeleton driven by a twisted strings-based actuator. A novel joint actuation mechanism is proposed and its kinematic model is presented along with its experimental evaluation, and guidelines on how to choose the strings suitable for such an exoskeleton are given. We also proposed and experimentally verified a human intention detection method which takes advantage of intrinsic compliance of the mechanism. The study showed that the developed twisted strings-driven elbow exoskeleton is light, compact and have a high payload-to-weight ratio, which suggests that the device can be effectively used in a variety of haptics, teleoperation, and rehabilitation applications.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1044-1051
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• 2004

This paper described a novel locomotion interface that can generate infinite floor for various surface, named as virtual walking machine. This interface allows users to participate in a life-like walking experience in virtual environments, which include various terrains such as plains, slopes and stair ground surfaces. The interface is composed of two three-DOF (X, Y, Yaw) planar devices and two four-DOF (Pitch, Roll, Z, and relative rotation) footpads. The planar devices are driven by AC servomotors for generating fast motions, while the footpad devices are driven by pneumatic actuators for continuous support of human weight. To simulate natural human walking, the locomotion interface design specification are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking(step: 0.8m, height: 20cm, load capability: 100kg, slope:30deg) for various terrains.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1662-1667
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• 2005

In this paper, analysis, design, control and prototype construction of a wearable wire-driven haptic interface called HapticPen is discussed. This device can be considered as a wire driven parallel mechanism which three wires are attached to a pen-tip. Wire tensions are provided utilizing three DC servo motors which are attached to a solid frame on the user's body. This device is designed as input as well as output device for a wearable PC. User can write letters or figures on a virtual plate in space. Pen-tip trajectory in space is calculated using motor encoders and force feedback resulting from contact between pen and virtual plate is provided for constraining the pen-tip motion onto the virtual plane that can be easily setup by arbitrary non-collinear three points in space. In this paper kinematic model, workspace analysis, application analysis, control and prototype construction of this device are presented. Preliminary experiments on handwriting in space show feasibility of the proposed device in wearable environments.

• 한국HCI학회:학술대회논문집
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• 2007.02a
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• pp.578-584
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• 2007

사용자는 햅틱 장비를 통해 촉감을 느낄 수 있다. 하지만 일반적인 햅틱 장비들은 바닥에 고정된 형태이고, 또한 장치의 크기가 제한되어 있으므로, 제한된 작업공간을 가진다. 이로 인해 사용자들은 햅틱 장비의 작업공간보다 작은 물체 혹은 작업공간에 맞게 축소된 물체만을 느낄 수 있다. 이러한 햅틱 장비의 한계를 극복하고자, 햅틱 장비와 이동형 로봇을 결합한 이동형 햅틱 디스플레이를 제안한다. 이동형 햅틱 디스플레이를 위한 시스템 구성을 소개하고, 이동형 로봇의 움직임을 조종하기 위한 새로운 알고리즘을 제안한다. 이러한 이동형 햅틱 디스플레이를 사용하면 사용자는 햅틱 장비의 작업공간보다 큰 물체를 느낄 수 있으며, 가상 환경을 자유롭게 이동하면서 햅틱 피드백을 받을 수 있다.

• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.238-246
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• 2004

In displaying a virtual wall using a passive haptic device equipped with passive actuators such as electric brakes, unsmooth motion frequently occurs. This undesirable behavior is attributed to time delay due to slowness in the virtual environment update and force approximation due to the inability of a brake to generate torque in arbitrary directions. In this paper a new control scheme called direct control is proposed to achieve smooth display on the wall-following task with a passive haptic device. In direct control, brakes are controlled so that the normal component of a resultant force at the end-effector vanishes, based on the force analysis at the end-effector of the passive haptic device using the passive FME (Force Manipulability Ellipsoid). Various experiments have been conducted to verify the validity of the direct control scheme with a 2-link passive haptic system.

• International Journal of CAD/CAM
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• v.9 no.1
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• pp.93-102
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• 2010

Shaping realistic hairstyles for digital characters is a difficult, long and tedious task. The lack of appropriate interaction metaphors enabling efficient and simple, yet accurate hair modeling further aggravates the situation. This paper presents 3D interaction metaphors for modeling virtual hair using haptic interfaces. We discuss user tasks, ergonomic aspects, as well as haptics-based styling and fine-tuning tools on an experimental prototype. In order to achieve faster haptic rates with respect to the hair simulation and obtain a transparent rendering, we adapt our simulation models to comply with the specific requirements of haptic hairstyling actions and decouple the simulation of the hair strand dynamics from the haptic rendering while relying on the same physiochemical hair constants. Besides the direct use of the discussed interaction metaphors in the 3D modeling area, the presented results have further application potential in hair modeling facilities for the entertainment industry and the cosmetic sciences.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.11
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• pp.1581-1586
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• 2010

Haptic-aided design (HAD) involves the use of a haptic simulator in place of physical prototypes in the design and development of products with which human beings interact physically. The development time and cost can be significantly reduced by adopting this HAD scheme. Although both physical and emotional factors are equally important, only the emotional factors were taken into consideration in the previous HAD process. Consequently, the design of the products was sometimes unsatisfactory from the viewpoint of ergonomics, even though users were emotionally satisfied with the products. To overcome this problem, in this study, we propose a new human-oriented design methodology that is enhanced by taking the physical factors into consideration. The HAD scheme was verified by using a haptic chair simulator to design a tilt mechanism of an office chair for which the stiffness of the backrest can be adjusted; then, the design was simulated using MADYMO. The results show that the proposed method can reflect both the physical and emotional factors to modify the design in real-time.