• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.3
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• pp.95-103
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• 1998

This paper deals with a problem occuring in recognition of tactile images due to the effects of imposed force at a me urement moment. Tactile image of a contact surface, used for recognition of the surface type, varies depending on the forces imposed so that a false recognition may result in. This paper fuzzifies two parameters of the contour of a tactile image with the membership function formed by considering the imposed force. Two fuzzifed paramenters are fused by the average Minkowski's dist; lnce. The proposed algorithm was implemented on the multisensor system cnmposed of an optical tact le sensor and a 6 axes forceltorque sensor. By the experiments, the proposed algorithm has shown average recognition ratio greater than 869% over all imposed force ranges and object models which is about 14% enhancement comparing to the case where only the contour information is used. The pro- ~oseda lgorithm can be used for end-effectors manipulating a deformable or fragile objects or for recognition of 3D objects by implementing on multi-fingered robot hand.

• The Research Journal of the Costume Culture
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• v.28 no.5
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• pp.705-718
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• 2020

The goal of this study was to develop a haptic communication system that can convey the tactile sensation of fashion materials in a virtual environment. In addition, the effectiveness and how realistically the virtual fabric image of this system delivers the tactile sensation of actual fabric was verified. First, a literature review was conducted through which the tactile attributes of fashion materials were defined that would be implemented in the haptic communication system. Then, a questionnaire for evaluating the tactile attributes of fashion materials was developed. Next, a haptic communication system was designed to convey fashion image experiences in a virtual environment, from which a haptic rendering model was suggested. The effectiveness of the haptic communication system was evaluated by verifying user experiences with questions developed through a user evaluation experiment. The validity of the evaluation questions pertaining to the tactile attributes and the effects of the haptic communication system were verified. Factor analysis was conducted to verify the evaluation of the tactile sense attributes of the fashion material, which identified density, thickness, and elasticity of the material as key factors. As a result of comparisons between the tactile sense through haptic characteristics and through touching, it was observed that regarding density and thickness, tactile sense experience led to greater perceived reality, while this was not the case for elasticity.

• Journal of the Korea Computer Industry Society
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• v.4 no.10
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• pp.643-654
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• 2003

This paper proposes slippage and rotation sensing method in tactile image of robot griper. To overcome the demerits of inaccurate taxel positional sensing generated by previous moment method and edge ＆ line method according to constraints of taxet number changing or minimum taxel number, the proposed method classified the sensing method into two classes such as pixel status analysis and decision factor determination. The decision factor determines taxel threshold for filtering and sensing method choice based on moment method and edge ＆ line method. Computer simulations and experiment result show that the proposed method enhances the slippage and rotation sensing than previous methods for tactile image.

• Science of Emotion and Sensibility
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• v.14 no.1
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• pp.127-136
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• 2011

The objectives of this study were to investigate the effects of color characteristics on tactile sensation / sensibility image of silk fabrics and to provide prediction models for their tactile sensation/sensibility image by both mechanical properties and color characteristics. As results, some of tactile sensation/sensibility terms including 'smooth', 'buoyant', 'thick', 'stiff', 'unique', 'casual', 'rural', and 'modern' seemed to be influenced by color characteristics such as achromatic/chromatic and hue / tone as well as by mechanical properties of silk. Moreover, red or green silk was more strongly felt than gray ones for 'thick' and 'stiff' as well as pale or vivid was. On the other hands, 'Rural' and 'casual' were respectively evaluated more highly for green, pale, or vivid silk. These results imply that color could give an effect on subjective tactile sensation / sensibility. Finally, prediction models for some of tactile sensation / sensibility of silk fabrics by both mechanical properties and color characteristics were established.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.5
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• pp.638-647
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• 2011

Various approaches directly using vibrations of speakers have been suggested to effectively display the aural information such as the music to the hearing-impaired or the deaf. However, in these approaches, the human can't sense the frequency information over the maximum perceivable vibro-tactile frequency (around 1kHz). Therefore, in this study, an approach via spectral modulation of compressing the high frequency audio information into perceivable vibro-tactile frequency domain and outputting the modulated signals through the designated speakers is proposed. Then it is shown, through simulations of using Short-Time Fourier Transform (STFT) with Hanning windows and through preliminary experiments of using the vibro-tactile display testbed which is built and interfaced with a notebook PC, that the modulated signal of a natural sound composing sounds of a frog, a bird, and a water stream could produce the noise-free signal suitable enough for vibro-tactile speakers without causing Significant interfering disturbances, Lastly, for three different combinations of information provided to the subject, that is, i) with only video image, ii) with video image along with the modulated vibro-tactile stimuli as proposed in this study to the forearm of the subject, and iii) with video image along with full audio information, the effects to the human sense of reality and his emotion to given audio-video clips including various sounds and images are investigated and compared. It is shown from results of those experiments that the proposed method of providing modulated vibro-tactile stimuli along with the video images to the human has very high feasibility to transmit pseudo-aural sense to the human.

• The Journal of the Korea Contents Association
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• v.13 no.4
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• pp.452-458
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• 2013

In this paper, we propose the method for automatically transfers images into tactile maps information based on cognition characteristics of visually impaired persons to more easily provide various image information for visually impaired persons. The proposed method automatically classify color images into row complexity and high complexity based on intensity information and transfer images into tactile map information using each different transformation process. Experimental evaluation, We performed with visually impaired five persons experiments for evaluating the recognition and satisfaction that tactile maps of the proposed automatic transforming method and the manually generated tactile maps of braille textbooks. Experimental results, the recognition and satisfaction that the tactile maps of the proposed method generated are very similar to those of the tactile maps of braille textbooks. Therefore, it could hugely be reduced the time and money of production education materials, and it could greatly improved educative results because it can add more easily that many image data of education materials.

• Journal of the Korean Institute of Telematics and Electronics T
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• v.36T no.1
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• pp.64-70
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• 1999

When manipulator moves the objects, the object position error can be occurred because of acceleration or negative acceleration according to the direction. So we make manipulator working path for establishing optimal gripper force control preventing occurrence of object position error. And we attached the tactile sensor on the gripper of manipulator which gives us very specific information between manipulator and object. Reasoning of continuous tactile image data, manipulator can sense rotation and slippage and change the grasping force that corrects calculated grasping force and compensation can be possible of the object position error. We use the FSR(Force Sensing Resistor)sensor which consists of 22 by 22 taxels and continuous taxel number is used for filtering and using the moment method for sensing algorithm in our experiment.

• Journal of Biomedical Engineering Research
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• v.12 no.2
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• pp.107-112
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• 1991

In this paper, we have developed page level input system of the character reading aid for the blind. Input toys)ems arse consisted with 512 pixels line image sensor, optical lento, digital interface for the computer and its control software. Input buffer size of the computer memory that for the single scanning of printed matters Image is 64kB. Image patterns of the reading characters which stored in system memory are converted to tactile character patterns that would be output to the bimorph tactile sensor by software control.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.628-631
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• 1996

This paper proposes a surface recognition algorithm which determines the types of contact surfaces by fusing the information collected by the multisensor system, consisted of the optical tactile and force/torque sensors. Since the image shape measured by the optical tactile sensor system, which is used for determining the surface type, varies depending on the forces provided at the measuring moment, the force information measured by the f/t sensor takes an important role. In this paper, an image contour is represented by the long and short axes and they are fuzzified individually by the membership function formulated by observing the variation of the lengths of the long and short axes depending on the provided force. The fuzzified values of the long and short axes are fused using the average Minkowski's distance. Compared to the case where only the contour information is used, the proposed algorithm has shown about 14% of enhancement in the recognition ratio. Especially, when imposing the optimal force determined by the experiments, the recognition ratio has been measured over 91%.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.9
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• pp.1424-1430
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• 2017

Human senses have been studied widely. Many studied are being actively conducted to analyze correlations between two or more different senses. Among them, research on tactile visuality where a subject can indirectly experience visual sensation through tactile elements is also progressing in various fields. In this study, we analyzed color information by having subjects perceive sandpapers with different roughness through tactile sense, then having them choose a color that is reminiscent of the tactile sensation. Unlike existing tactile-visuality studies allowing the perception of indirect visual sense by using tactile sense, this study shows that it is possible to analyze with quantitative value by representing visual image perceived by tactile sense as a color. This study will contribute to emotional evaluation research that combines two or more of the senses felt by humans, and especially is considered to be useful as basic data when conducting research about tactile visuality or auditory tactile sense.