• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2753-2758
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• 2003

Tactile sensation is essential for many manipulation and exploration tasks not only in a real environment but also in a virtual environment. In this paper, we discuss a conceptual design of an integrated tactile display system. The system comprises two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device is implemented using eight piezoelectric bimorphs and a linear actuator, and is attached to a 2 DOF translational force feedback device to simultaneously simulate texture and stiffness of the object.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.445-450
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• 2005

In this paper, we suggest an integrated tactile display system that provides kinesthetic force, pressure distribution, vibration and slip/stretch. The system consists of two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to the skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate the characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device, using eight piezoelectric bimorphs and a linear actuator, Is implemented and attached to a 2 DOF translational force feedback device to simultaneously simulate the texture and stiffness of the object. As a result, we find out that the capability of the suggested device is sufficient to display physical quantities to display the texture.

• 복식문화연구
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• 제19권3호
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• pp.556-564
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• 2011

The purpose of this study was to analyze the effect of the structural properties, the color characteristics and the texture of sight and touch on the tactile preferences for the black fabrics. Male and female university students were asked to evaluate the texture of sight and touch and tactile preference to the nine different black fabrics which were selected on the basis of the previous research results. Data were analyzed by using frequency analysis, mean, factor analysis, t-test, F-test, correlation and regression analysis. The texture of sight and touch for black fabrics was classified into four factors: smoothness, bulkiness, extensibility, firmness. This texture of sight and touch factors showed a significant correlative relationship to the structural properties and color characteristics of the black fabrics. There were significant differences according to black fabrics on the point of texture of sight and touch. The velvet was evaluated the most smooth fabric, while the velvet and fake leather were evaluated the most bulky fabrics. Also, the jersey and lace fabrics were evaluated the most extensible fabrics, while the melton was evaluated as the most firm fabrics. There were significant correlative relationships not only between the structural properties and the texture of sight and touch but also between the color characteristics and the texture for black fabrics. Also, among the structural properties, the color characteristics and the texture of sight and touch of black fabrics, major variable factor of influencing on the tactile preference was turned out to be the texture of sight and touch.

• 대한기계학회논문집B
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• 제37권6호
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• pp.545-550
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• 2013

본 논문은 정전기력을 이용한 마찰력 변조를 이용하여 손끝을 통한 촉각정보의 입출력을 동시 구현하는 소자를 제안하였다. 기존의 촉각소자들이 촉각정보의 입력 및 출력을 개별적으로 구현한 것에 비해 본 연구는 손끝의 수직/수평 방향 동작 인식과 질감 구현을 동시에 구현하였다는 점에서 차별성을 가진다. 실험분석을 통해 검증한 손끝 동작 인식기능은 수직방향의 클릭의 경우 0.146nF/$40{\mu}m$, 수평방향의 경우 0.09nF/$750{\mu}m$의 정전용량 변화를 통해 인식 가능하였으며, 질감 구현의 경우 정전기적 인력을 통해 마찰력을 32~152mN의 범위에서 제어할 수 있음을 확인하였다. 교류전압을 이용한 수평적 진동은 60V, 3Hz에서 최대 128.1mN의 마찰력 변조를 구현하였으며, 이는 기존 연구 대비 32% 향상을 보여준다. 본 연구는 손끝에서 정보의 입출력을 동시 구현하여 정보기기의 촉각인터페이스에 적용 가능하다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.596-601
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• 2004

In this paper, we describe a study on the influence of the frequency variation of normal vibration using an integrated tactile display. It is necessary to consider this study because we want to find a method of displaying finer texture and know that the perception of fine textures is heavily influenced by temporal variation. Our tactile display system used in this experiment can simulate the micro shapes and roughness of surface textures by individual drives of a 6x8 pin array. Two experiments are performed. The first is a psychophysical experiment on the definition and range decision of roughness, and through the experiment, we clear up the meaning of roughness. The second is the main experiment about the frequency variation of normal vibration. We find the correlation between the vibration frequency and the texture and the condition for better display and perception of fine surfaces. The experimental results yielded two pieces of information. One is that lateral movement affects texture discrimination, and another is that normal vibration can make the perceived texture feel finer than real texture. That is, the vibrating stimulus is more effective for displaying a fine surface than static pressure, and it makes possible to display finer texture, exceeding the physical limit of the device.

• 한국의류학회지
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• 제30권5호
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• pp.699-710
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• 2006

The objective of this study was to identify the texture-related components of woven fabrics and to develop a multidimensional perceptual structure map to represent the tactile textures. Eighty subjects in clothing and tektite industries were selected for multivariate data on each fabric of 30 using the questionnaire with 9 pointed semantic differential scales of 20 texture-related adjectives. Data were analyzed by factor analysis, hierarchical cluster analysis, and multidimensional scaling(MDS) using SPSS statistical package. The results showed that the five factors were selected and composed of density/warmth-coolness, stiffness, extensibility, drapeability, and surface/slipperiness. As a result of hierarchical cluster analysis, 30 fabrics were grouped by four clusters; each cluster was named with density/warmth-coolness, surface/slipperiness, stiffness, and extensibility, respectively. By MDS, three dimensions of tactile texture were obtained and a 3-dimensional perceptual structure map was suggested. The three dimensions were named as surface/slipperiness, extensibility, and stiffness. We proposed a positioning perceptual map of fabrics related to texture naming system(TNS). To classify the textural features of the woven fabrics, hierarchical cluster analysis containing all the data variations, even though it includes the errors, may be more desirable than texture-related multidimensional data analysis based on factor loading values in respect of the effective variables reduction without losing the critical variations.

• 복식문화연구
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• 제12권5호
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• pp.702-706
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• 2004

Sensorial tests were executed to find the sensibility and texture of the fabrics. The physiological responses employed in this study was electroencephalogram(EEG). The purpose of this study is to find out how the sample groups responded to the texture of the woven silks and the woven ramie. The sample groups are of 10 males and females, age of 25. EEG was recorded a fast and slow alpha wave according to the texture of the textiles. The sample fabrics are of woven silk and woven ramie. The results obtained as be lows. When the sample groups touched the woven silk, they responded and showed more slow alpha wave than the woven ramie. The slow alpha wave raised when the sample groups felt comfort and relax. The fast alpha wave were more in the woven ramie, it raised when the people felt the tension and the anxiety. There was no significant difference between the male and the female. Woven silk has the soft and smoothness it causes comfort. The sensation of tactile was recorded through the EEG.

• 한국생활과학회지
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• 제23권2호
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• pp.317-328
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• 2014

In this study, differences of texture image and preference for men's suit fabrics according to mechanical properties, hand and fabric information were investigated. 55 subjects evaluated texture image and preference of 12 kinds of wool blended fabrics. For statistical analysis, t-test and pearson correlation coefficients were used. The results were as follows: Most of mechanical properties effected on texture images, and bending property and shearing property were effected on tactile preference and purchasing preference. For hand, objective hand values showed correlations with subjective texture images and preferences, but THV had almost no correlations. In sensory images according to presence of fabric information, fabrics were evaluated thinner, lighter, more pliable and smooth by cognition of wool blending ratio. For sensibility images, fabrics were evaluated more refined, intellectual, dignified and less practicable after recognize of wool blending ratio. In preferences, tactile preference was increased and purchasing preference was decreased after recognize fabric information. Therefore, significant differences of texture image and preference were observed according to presence of fabric information.

• 감성과학
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• 제2권1호
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• pp.105-111
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• 1999

In order to introduce the touch to engineering and industries, it must be preceded to dstablish a quantitative barometer of the feeling. for this purpose, we developed a tactile measuring system to measure physical properties of texture, such as surface roughness, friction coefficient and compliance. The tactile measuring system uses a LASER type displacement sensor, which is a non-contacting system, in measuring the surface roughness. By considering that human tactile system is a contacting mechanism, this non-contacting method needs to be modified. As a precedent research of that, we compared the contacting and non-contacting method in this paper. Surface roughness of ten cloths were measured by using the measuring system, then compared to the test results using the Kawabata evaluation system(KES), which uses a contacting method in measuring the surface roughness.

• 진공이야기
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• 제4권3호
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• pp.6-11
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• 2017

The tactile sensor of the future robot is becoming a necessity as a sensory organ which can communicate with the person most directly. Recently, the Nature-inspired technology has provided a new direction for the development of these tactile sensors. Here, we review three different nature-inspired tactile sensory system; high sensitivity pressure sensor inspired by beetle wings, highly sensitive strain sensor inspired by the spider's sensory organs, Tactile sensor inspired by human fingertip. These nature-inspired tactile sensors are expected to provide a breakthrough that not only can sensitively measure the pressure, but also delicately recognize the softness and texture of the material just like human.