• Proceedings of the Optical Society of Korea Conference
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• 2001.08a
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• pp.16-17
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• 2001

• Transactions of The Korea Fluid Power Systems Society
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• v.8 no.3
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• pp.8-13
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• 2011

In the present study, a robust controller has been designed to control force for a pneumatic driving system considering the effect of a transmission line. Transfer characteristics of pneumatic transmission line should be changed according to the velocity of the air going through the transmission line. The designed controller is composed of two parts. The one is a feedback controller, which is composed of a stabilizing filter, a compensating filter of modelling error and a nominal model of the force control system, to compensate the influence of transmission line and improve the feedback characteristics of the control system, and, the other is a feedforward controller to achieve the control performance. Control results with the designed controller show that the robustness and performance of the control system are improved compared to the control results with a fixed gain controller.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.1-10
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• 2017

For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1692-1695
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• 1997

In this paper, a new control scheme for master-slave control of telerobot is proposed. The porposed method can be classified into unilater master-slave control methods in the aspect of the data flow. But the master arm in the proposed control scheme can deliver operator the similar kinesthetic sense as other bilateral force reflecting master arms do. The principle concept is that the sensed operator's force/torque is used as the reference input for a damping controller type of telerobot controller which track the operators efforts. Master arm and master controller can be implemented in a simple form, and it needs not be driven by actuators, but force sensing capability.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.422-427
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• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological(ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-Chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain, and theirtrackingerrorsareevaluated.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.12 s.117
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• pp.1286-1293
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• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological (ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain.

• The Journal of the Korean dental association
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• v.58 no.11
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• pp.670-682
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• 2020

This research examined the difference in cognitive load and the virtual presence depending on auditory feedback and task difficulty in haptic-based dental simulation. In the field of dental education, practice-centered training using handpiece has been crucial because a practitioner's psychomotor experience has a significant impact on the mastery of treatment skills. For the novice, it is necessary to reduce errors in dental treatment to enhancing skill acquisition in the haptic practice. In the training process, the force-feedback is crucial to elaborate subtle movement to guide what to do and how it should be hard or soft. However, It is not easy to add force-feedback to generate kinetic experience training. As an alternative method, we examined that auditory feedback can help learners' skill training. In this study, we analyzed how the presence/absence of auditory feedback at the different levels of task difficulty impacts learners' psychological demand and virtual presence in the virtual reality simulation. For this study, 29 dental college students participated in a dental simulation. The participants were grouped into two conditions that are with and without auditory feedback. Additionally, two consecutive tooth preparation tasks with different levels of difficulty were used in the simulation. The auditory feedback condition gives alarms to a learner when he treats a non-targeted tooth with a virtual handpiece. The user's cognitive load and virtual presence were measured to examine the effects of auditory feedback. The results revealed that the main effect was found in cognitive loads. Also, a significant interaction effect was shown in the virtual presence. We discussed the effective design methods for the virtual reality-based dental simulation through the result of this study.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2006.05a
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• pp.395-398
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• 2006

this paper provides a novel method to start the linear engine coupled linear generator from dead stop to its final steady state operation. This method depends mainly to use the linear generator mounted on the shaft of the linear engine to provide the required thrust force to move and oscillate the linear engine from bottom to top dead centers. It is a cost effective approach to start the internal linear combustion engine using its coupled tubular permanent magnet linear generator proposed here. This linear generator operates in this case in motoring mode, providing the required thrust force by feeding this linear generator phases with currents by using a three phase PWM inverter controlled by position feedback scheme. In order to provide the desired thrust force with specific value and direction, a position feedback is required to control the free piston engine motion through controlling the inverter switches using PWM control scheme.

• Physical Therapy Korea
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• v.13 no.4
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• pp.10-15
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• 2006

This study examined the ability of human subjects to match a force in their quadriceps muscle during fatigue. Twenty subjects (mean age: 23.4 yrs, mean height: 167.8 cm, mean weight, 62.6 kg) were enrolled in the experiment. In the force-matching task, the quadriceps muscle generated 50% of the MVIC (maximum voluntary isometric contraction) torque under visual control and then without visual feedback. After inducing fatigue in the quadriceps muscle, the subjects were required to match 50% of the MVIC torque without visual feedback. The perceived magnitude of the force and force-matching errors were measured. 50% of the MVIC torque was perceived from 39.96 Nm in the pre-fatigue condition to 44.95 Nm in the post-fatigue condition. 50% of the MVIC torque-matching errors increased significantly from .55% in the pre-fatigue condition to 9.6% in the post-fatigue condition (p<.001). in addition, there were significantly more force-matching errors in women than in men (p<.01). In conclusion muscle fatigue can interfere with a subject's ability to match a force. This suggests that muscle fatigue may contributes to the sensitization of the proprioception.

• KIPS Transactions on Software and Data Engineering
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• v.12 no.6
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• pp.275-284
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• 2023

Virtual reality simulations are used for education and training in various fields, and are especially widely used in the medical field recently. The education/training simulator consists of tactile/force feedback generation and image/sound output hardware that provides a sense similar to a doctor's treatment of a real patient using real surgical tools, and software that produces realistic images and tactile feedback. Existing simulators are complicated and expensive because they have to use various types of hardware to simulate various surgical instruments used during surgery. In this paper, we propose a dental surgical simulation system using a force feedback device and a morphable haptic controller. Haptic hardware determines whether the surgical tool collides with the surgical site and provides a sense of resistance and vibration. In particular, haptic controllers that can be deformed, such as length changes and bending, can express various senses felt depending on the shape of various surgical tools. When the user manipulates the haptic feedback device, events such as movement of the haptic feedback device or button clicks are delivered to the simulation system, resulting in interaction between dental surgical tools and oral internal models, and thus haptic feedback is delivered to the haptic feedback device. Using these basic techniques, we provide a realistic training experience of impacted wisdom tooth extraction surgery, a representative dental surgery technique, in a virtual environment represented by sophisticated three-dimensional models.