• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.155-162
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• 2009

In walking guide robot, a guide vehicle detects an obstacle distribution in the walking space using range sensors, and generates a 3D grid map to map the obstacle information and the tactile display. And the obstacle information is transferred to a blind pedestrian using tactile feedback. Based on the obstacle information a user plans a walking route and controls the guide vehicle. The algorithm for 3D detection of an obstacle distribution and the method of mapping the generated obstacle map and the tactile display device are proposed in this paper. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of fixed obstacles on the ground, the moving obstacle, and the detection of down-step are performed. The performance for the 3D detection of an obstacle distribution and space mapping is verified through the experiment.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.37 no.6
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• pp.545-550
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• 2013

We present a tactile information transceiver using a friction-tunable slider-pad. While previous tactile information devices were focused on either input or output functions, the present device offers lateral position/vertical direction detection and texture expression. In characterizing the tactile input performance, we measured the capacitance change due to the displacement of the slider-pad. The measured difference for a z-axis click was 0.146 nF/$40{\mu}m$ when the x-y axis navigation showed 0.09 nF/$750{\mu}m$ difference. In characterizing the texture expression, we measured the lateral force due to a normal load. We applied a voltage between parallel electrodes to induce electrostatic attraction in DC and AC voltages. We measured the friction under identical fingertip action conditions, and obtained friction in the range of 32-152 mN and lateral vibration in the force range of 128.1 mN at 60 V, 2 Hz. The proposed device can be applied to integrated tactile interface devices for mobile appliances.

• 한국HCI학회:학술대회논문집
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• 2007.02a
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• pp.25-31
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• 2007

본 논문에서는 질감제시장치와 진동모터를 내장한 펜형 햅틱(haptic) 인터페이스에 대해서 기술한다. 본 연구의 목적은 다양한 장치에 적용할 수 있는 소형 질감제시 모듈을 제안하고, 개발된 모듈을 펜과 같은 모양의 인터페이스에 내장하여 그 성능을 검증하는데 있다. 본 연구의 수행을 위해 핀배열을 내장하고 있으며, 저전력, 저소음으로 동작하며, 수직방향으로 1mm이상의 변위를 일으키는 소형 질감제시 모듈을 개발하였다. 그리고 개발된 모듈은 PDA나 Tablet PC등에서 흔히 사용되는 스타일러스(Stylus)와 같은 펜모양의 인터페이스에 내장되었다. 펜형 인터페이스의 헤드부분에는 팬케익 모터를 내장하여 사용자에게 진동 촉감을 제공할 수 있도록 하였다. 개발된 펜형 인터페이스의 성능을 검증하기 위하여Mobile Tablet PC상에서 내장된 질감제시 모듈이 점자정보를 촉감으로 전달할 수 있는지에 관한 실험을 수행하였으며, 모든 실험은 그래픽 사용자 인터페이스(GUI)상에서 이루어졌다. 또한 모든 버튼 조작시 '클릭'하는 느낌을 재현하였다. 실험은 동시에 다양한 자극의 주파수와 시간의 변화 조건에서 시행되어 의도하는 촉감을 가장 잘 전달하는 자극방법에 관한 연구를 동시에 수행하였다. 또한 개발된 펜형 인터페이스를 이용하여 이미지와 함께 데이터 베이스화 되어있는 질감을 재현할 수 있는 방법에 관한 기초 연구를 수행하였다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2014.07a
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• pp.53-54
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• 2014

본 논문에서는 시각 장애인들을 위해 유용한 정보를 제공해 주기 위한 촉각표시장치의 효율적인 정보 표시 방법에 대해 제안한다. 이 방법은 전방에 장애물이 있을 경우 이를 인지 및 촉각 정보로 변환하여 제공함으로 인해 사고를 미연에 예방하고자 한다. 이 방법은 저가의 스테레오 카메라를 이용하여 경제적인 비용으로 구성이 가능하다.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.11
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• pp.7-11
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• 2009

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.1-6
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• 2008

This paper proposes a game controller that provides user motion input and tactile feedback display, in addition to the traditional button-type input. The device utilizes both an accelerometer and an infrared camera in order to estimate 3D position and to recognize user motion. The information from the accelerometer and the camera are integrated for better performance. Various tactile sensations are presented using a voice-coil type vibrator. We apply the proposed controller to a motion-based game and validate its usability.

• Electronics and Telecommunications Trends
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• v.34 no.2
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• pp.10-18
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• 2019

Since the introduction of CRT(Cathode Ray Tube) in the 1950s, display technologies have been developed continuously. Flat panel displays such as PDP(Plasma Display Panel) and LCD(Liquid Crystal Display) were commercialized in the late 1990s, and OLED(Organic Light Emitting Diodes) and Micro-LED(Micro-Light Emitting Diodes) are now being developed and are becoming widespread. In the future, we expect to develop ultra-realistic, flexible, embedded sensor displays. Ultra-realistic display can be applied to AR/VR(Augmented Reality/Virtual Reality) devices and spatial light modulators for holography. The sensor-embedded display can be applied to robots; electronic skin; and security devices, including iris recognition sensors, fingerprint recognition sensors, and tactile sensors. AR/VR technology must be developed to meet technical requirements such as viewing angle, resolution, and refresh rate. Holography requires optical modulation technology that can significantly improve resolution, viewing angle, and modulation method to enable wide-view and high-quality hologram stereoscopic images. For electronic skin, stable mass production technology, large-area arrays, and system integration technologies should be developed.

• Journal of KIISE:Software and Applications
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• v.34 no.10
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• pp.900-909
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• 2007

This paper describes an experiment on the evaluation of human sensibility by monitoring responses to changes In the frequency and amplitude of a tactile display system. Preliminary tasks were performed to obtain effective adjectives concerning texture perception. The number of collected adjectives was originally 33. This number of adjectives was reduced to 14 by a suitability survey that asked whether an adjective is suitable for expressing a texture feeling. Finally after performing a semantic similarity evaluation, the number of adjectives was further reduced to ten and these ten were used in the main experiment. In the main experiment, selected sandpaper types and 15 selected combinations of frequencies and amplitudes of a tactile display were utilized to quantitatively evaluate the ten adjectives using a bipolar seven-point scale. The data show that a relationship exists between the independent variables(frequency, amplitude, and grit site) and the dependent variable(perceived texture). That is, the change of frequency and amplitude is directly related to perceived roughness or essential elements of human tactile sensitivity found in the preliminary experiment.

• Tribology and Lubricants
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• v.33 no.4
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• pp.148-152
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• 2017

The feel of writing is important to customers when they buy smart devices with stylus such as smartphones and tablet computers. With an aim to reproduce the tactile sensibility of writing instruments when people write on the glass display using a stylus, this study focuses on the frequency characteristics of writing instruments that can describe the vibrations of writing instruments sliding over counter surfaces. In addition, this study includes the effect of various factors influencing the friction of writing instruments such as lubricant, nib material, and contact type. We perform sliding experiments with six types of writing instruments and a sheet of paper to understand the relation between the friction conditions of the nib and the frequency characteristics. As this research focuses on the tactile perception of human skin when people use a writing instrument, the analysis of frequency characteristics is performed in the perceptible frequency range of mechanoreceptors in the human skin. As a result, three types of frequency characteristics are identified. Low frequency peaks are observed for a metal nib with ink; high frequency peaks are observed for a nib without ink; and, middle frequency peaks with a wide range of distribution occurs for fabric nibs with ink. Therefore, to implement the proper feel of writing, at least three types of vibrations have to be made.

• Journal of Korea Multimedia Society
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• v.21 no.8
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• pp.1002-1020
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• 2018

Virtual reality (VR) technologies, which have been improved of late, offer experiences closer to reality than before. While VR technologies are expected to be an effective medium if used in learning content that cannot be offered in real life, distraction factors in VR technologies may prevent the users' presence and flow, making these technologies ineffective. Therefore, this study, through experiment and observation, analyzed the effect of distraction factors on the user's experience perception and learning effect when using HMD-based immersive VR. Experimental results revealed that the distraction factors were shown to have a negative, albeit not generally significant (except for tactile interactivity), effect on vividness, tactile interactivity, locomotive interactivity, presence, and flow. Ultimately, they were shown to have a negative effect on learning.