• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.87-88
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• 2013

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.4
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• pp.464-478
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• 1998

In teleoperation, it is important for an operator to feel as if he really were in a distant place. To realize this objective, the various information from a remote site must be presented to the operator. Even though tactile information is very important to efficiently execute a task, it is not yet sufficiently provided for the operator. In this paper, we propose the new mechanism that can provide the more dexterous tactile information to the operator This device utilizing the electromagnetic force is designed to be compact and light enough to be attached to the fingerpad, and designed to be controlled continuously. The magnetic circuit is derived by the probable flux paths method in order to take forces at any given dimension. An optimization technique is also proposed to maximize the tactile force that humans can perceive under the same conditions. The objective function is formulated as maximizing displacements indented on the fingerpad, considering the mechanism of human tactile perception. The optimization formulation is subject to the geometric and rising temperature constraints in the coil. It is demonstrated that, by optimization, the tactile force increases by 24%, compared with that obtained from the initial design.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 1998.11a
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• pp.261-266
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• 1998

손끝으로 물건을 문지르거나 잡아 질감을 느끼는 경우 나타나는 현상을 Hertzian 접촉이론을 응용하여 수학적인 모델링을 하였다. 물체표면에 손끝이 접촉하여 눌려지게되면 변형이 일어나게 되고 변형된 모양과 정도에 따라 촉감을 느끼게 .된다. 손끝은 점탄성체로서 누르는 변위에 따라 탄성계수와 점성계수 값이 비선형으로 변하게 되는 현상을 이론과 실험을 통하여 연구하였다. 특히 손끝이 직물을 누를 때 나타나는 현상을 측정하여 질감표현과의 관계를 분석하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.5
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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.