• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2753-2758
• /
• 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.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.5
• /
• pp.445-450
• /
• 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.

• The Journal of Korea Robotics Society
• /
• v.1 no.1
• /
• pp.89-101
• /
• 2006

Tactile sensation is one of the most important sensory functions for human perception of objects. Recently, there have been many technical challenges in the field of tactile display as well as tactile sensing. In this paper, we propose an innovative tactile display device based on soft actuator technology with ElectroActive Polymer(EAP). This device offers advantageous features over existing devices with respect to intrinsic flexibility, softness, ease of fabrication and miniaturization, high power density, and cost effectiveness. In particular, it can be adapted to various geometric configurations because it possesses structural flexibility, so it can be worn on any part of the human body such as finger, palm, and arm etc. It can be extensively applied as a wearable tactile display, a Braille device for the visually disabled, and a human interface in the future. A new design of the flexible actuator is proposed and its basic operational principles are discussed. In addition, a wearable tactile display device with $4{\times}5$ actuator array(20 actuator cells) is developed and its effectiveness is confirmed.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.8
• /
• pp.783-789
• /
• 2007

In this paper, firstly, we propose a generating method of the 3-D obstacle map using ultrasonic sensors. Secondly, we try to find the necessary stimulation conditions of compact tactile display device for effective transfer of obstacle information. The final goal of this research is the development of a walking guide system for the blind to walk safely. The walking guide system consists of a guide vehicle for the obstacle detection and a tactile display device for the transfer of the obstacle information. The guide vehicle, located in front of the walking blind, detects the obstacle using ultrasonic sensors. The processed information makes an obstacle map and transmits safe path and emergency situation to the blind by the tactile display. The tactile display device, located in the handle which is connected with the guide vehicle by cane, offers the processed obstacle information such as position, size, moving, shape of obstacle and safe path, etc. The concept of a walking guide system with tactile display is introduced, and experiments of 3-D obstacle detection and tactile perception are carried out and analyzed.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.888-891
• /
• 2005

In this paper, the prototype of a walking guide robot with tactile display is introduced, and the psychophysical experiment of the tactile recognition for a tactile display is carried out and analyzed. The objective of this research is the development of a walking guide robot for the blind to walk safely. A walking guide robot consists of a guide vehicle and a tactile display device. A guide vehicle, located in the front of the walking blind, detects the obstacle using ultrasonic sensors and offers the information of position and walking direction acquired from GPS module to the walking blind by voice. The tactile display device, located in the handle which is connected with the guide vehicle by cane, offers the processed obstacle information such as position, size, moving, shape of obstacle and safe path, etc. The psychophysical experiments for the threshold of perception and recognition ability of tactile stimulation are carried out by the estimation of the subject group. As a result the appropriate tactile stimulus intensity and frequency to recognize tactile stimulation effectively are discussed and derived.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.8
• /
• pp.592-599
• /
• 2003

As one of the Principal modalities of human sensation, tactile feel is prerequisite for building wide variety of applications such as telemanipulation, virtual reality and medical engineering. A dynamic Braille display device based on a polymer actuator is presented. The actuator, often called artificial muscle actuator has advantageous features over the existing methods in terms of intrinsic softness, ease of fabrication, cost-effectiveness and miniaturization. The principles of actuation with dielectric elastomer is introduced, and necessary considerations on the design of a tactile display device are discussed. The design of the device is described in detail including the fabrication process and driving electronics. Also, preliminary results of experiments are given to evaluate its performance.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.48 no.2
• /
• pp.1-8
• /
• 2011

In this paper, we propose a haptic display system that can convert Braille and tactual map(braille map) to tactile information recognizable through sense of touch almost in real-time. The proposed system consists of a haptic display hardware device, which actually delivers tactile signal to visually impaired people, and a device control software program, which converts Braille and tactile information to tactile signal and transfers it to the hardware device. Experimental evaluations of the proposed system were performed with 10 visually impaired persons. Experimental results show that the proposed system can provide similar Braille recognition rate and speed to those of existing Braille information devices. In addition, the proposed system converts tactile information to tactile signal under maximum 1.1 seconds, so that it can provide graphic information in almost real-time which is not possible with existing tactile devices, such as Braille printer.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.5
• /
• pp.451-456
• /
• 2005

This paper describes three kinds of experiments and analysis of their results related to human tactile sensitivity using an integrated tactile display system. The device can provide vibration, normal pressure and lateral slip/stretch which are important physical quantities to sense texture. We have tried to find out the efficient method of stimulating, limitation of surface discrimination by kinesthetic farce feedback and the effectiveness of the combination of kinesthetic force and tactile feedback. Seven kinds of different stimulating methods were carried out and they are single or combination of the kinesthetic force, normal static pressure, vibration, active/passive shear and moving wave. Both prototype specimen and stimulus using tactile display were provided to all examinees and they were allowed to answer the most similar sample. The experimental results show that static pressure is proper stimulus for the display of micro shape of the surface and vibrating stimulus is more effective for the display of fine surface. And the sensitivities of active touch and passive touch are compared. Since kinesthetic force feedback is appropriate to display shape and stiffness of an object, but roughness display has a limitation of resolution, the concurrent providing methods of kinesthetic and tactile feedback are applied to simulate physical properties during touching an object.

• Journal of the Korean Society for Precision Engineering
• /
• v.33 no.1
• /
• pp.17-22
• /
• 2016

In smart factories, the entire manufacturing process from design to the final product is simulated in a virtual manufacturing environment and optimized before starting production. Suppliers and customers make decisions based on the simulation results. Therefore, effective rendering of the information of the virtual products to suppliers and customers is essential for this manufacturing paradigm. In this study, a method of rendering the surface roughness of the virtual products using a tactile display is presented. A tactile display device comprising a $3{\times}3$ array of individually controlled piezoelectric stack actuators is constructed. The surface topology of the virtual products is rendered directly by controlling the piezoelectric stack actuators. A series of experiments is performed to evaluate the performance of the tactile display device. An electrical discharge machined surface is rendered using the proposed method.

• ETRI Journal
• /
• v.29 no.3
• /
• pp.305-310
• /
• 2007

If a virtual object in a virtual environment represented by a stereo vision system could be touched by a user with some tactile feeling on his/her fingertip, the sense of reality would be heightened. To create a visual impression as if the user were directly pointing to a desired point on a virtual object with his/her own finger, we need to align virtual space coordinates and physical space coordinates. Also, if there is no tactile feeling when the user touches a virtual object, the virtual object would seem to be a ghost. Therefore, a haptic interface device is required to give some tactile sensation to the user. We have constructed such a human-computer interaction system in the form of a simple virtual reality game using a stereo vision system, a vibro-tactile device module, and two position/orientation sensors.