• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.203-213
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• 2009

의료 분야는 가상현실 (VR, Virtual Reality)의 주요한 응용 분야 중의 하나이다. 가상현실을 의료 분야에 응용하는 연구는 학제간 연구의 대표적인 사례로 간주되며, 컴퓨터 과학자나 공학자, 내과 및 외과의사, 의학 교육자나 학생, 군사 의료 전문가들이나 의생명과학 전문가들이 참여하고 있다. 사용자들이 인지하는 물입감의 경험을 기준으로 하여 사람과 컴퓨터의 상호 작용(HCI, Human Computer Interaction)을 향상시키기 위해서는, 햅틱(Haptic), 음성, 냄새 등 비전통적 상호 작용 방법이 탐구되어야 한다. 특히, 햅틱 피드백은 전통적 상호작용 방식인 시각 정보와 서로 긴밀하게 관계가 맺어진다. 시각 정보와 햅틱 피드백을 결합하게 되면, 사용자들은 몰입감을 좀더 강하게 느끼게 된다. 전세계적으로 햅틱 피드백은 오랫동안 연구되어 왔고, 햅틱 기반의 시스템도 많이 개발이 되었다. 본 논문에서는 해틱 피드백이 의료 분야에 적용된 사례들에 집중하였다. 즉, 햅틱 피드백과 이들이 의료 분야에 응용된 사례들을 정리하여 발표하였다.

• 한국실내디자인학회논문집
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• 제24권6호
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• pp.229-239
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• 2015

The 21st century is a multiplication age and social and cultural phenomena have become diverse and peoples' desires and individuality have become important. Accordingly, the sensibility that reflects human taste is also required in the exhibition space. The exhibitions in this age induce the direct cognition of senses or take interactive forms that contact diverse media and react. The purpose of this research is to define the concept of haptic presentation method in which the audience perceive in the exhibition space by themselves and the visual elements spread into other senses and perceive complexly, and to present the directional nature. To conduct this research, first, this researcher recognized that haptic sensory experiential research by analyzing the roles and transition history of exhibition space is needed for the present age Second, based on philosophical theories, four haptic sensory expression characteristics (medium nature, experiential nature, attractiveness, sensitiveness) were derived by substituting Giles Deleuze's four haptic spatial characteristics (grasping short distance, dispersed gaze, cognition of bodily movement, formation of synesthesia through complex senses) and six formative factors of exhibition space (space, form, size, light, quality of materials, and color). And the effective exhibition presentation methods were analyzed through six cases of experiential exhibition spaces. Accordingly, what matters in the experiential exhibition space is to produce the four characteristics: medium nature, experientiality, attractiveness, and sensitiveness in equilibrium. It is necessary for the designers to reflect it appropriately in producing so that the audience can think and experience by themselves. Accordingly, in this thesis, it could be seen that to produce the haptic production characteristics in the experiential exhibition space in equilibrium is the important factor in the experiential exhibition space. In conclusion, experiences in the exhibition space should be approached with the transcendental haptic presentation method by which even the space of actually unexperienced cognition can be expanded and experienced through the metastasis and tension of various senses. Also, researches on such senses should be developed continuously, and this researcher expects that this will become a stimulant to present a new directivity.

• 한국정보과학회논문지:시스템및이론
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• 제33권4호
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• pp.216-222
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• 2006

벡터 필드는 공간상에 눈으로 보이지 않거나 표현하기 어려운 데이타의 진행을 이해 하기 쉽게 표현하는데 많이 사용되고 있다. 예를 들면, 바람이나 물의 진행 방향 및 세기, 온도의 전도, 전자기파 등의 과학적인 데이타의 시각화에 사용되고 있다. 본 연구에서는 3차원 모델상에 존재하는 벡터 필드에 대해 시각적인 정보와 더불어 촉각을 통한 직관적인 인식을 제공하기 위한 햅틱 렌더링 기술을 개발하였다. 이를 구현하기 위해 벡터 필드를 햅틱 인터페이스에 적합하게 모델링 하는 기법과 시뮬레이션 기술을 개발하였다. 이를 바탕으로 일상생활에 사용되는 지도에서 사용자가 원하는 목적지로 햅틱 인터페이스를 통해 안내해 주는 햅틱 맵과 해류의 흐름을 보여주는 시각적인 벡터 필드를 사용자가 촉각을 통해 직관적으로 느낄 수 있도록 해주는 시스템에 적용하였다. 앞으로 교육, 훈련, 그리고 오락 등 다양한 분야에서 이러한 햅틱 벡터 필드 기술이 사용될 수 있을 것으로 기대된다.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.807-814
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• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.

• 한국산업정보학회논문지
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• 제17권1호
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• pp.11-20
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• 2012

Due to the development of internet technology, the online business trade becomes an active area. Online negotiation supporting systems have been developing very actively in recent years to meet the growing needs. We have been studying on the effect that the haptic device brings about in interaction through online negotiation between two parties. In order to meet the online negotiation's requirements, the developed interface should be able to protect user's anonymity, convey user's emotion and make the scene alive.In this study, we adopt haptic interaction as a means of conveying emotion in an online negotiation between Japanese and Chinese people. In this study, our goal is to investigate the effectiveness of haptic interaction in communications between Chinese and Japanese users and analyze the characteristis in operation the haptic device. We conducted online negotiation experiments with and without haptic interaction . The comparison experiments results show that the haptic feedback can help to convey the emotion and the sense of presence. The Chinese subjects' feedback for the questionaire concerning the emotional communication and the sense of presence varies slightly compared to the Japanese subjects. We also found when using the haptic device, the force feedback can influence subject's feelings.There is little significant difference between the advanced and the medium subjects in negotiation dialogues and the haptic device's operation, the beginner subjects are slightly at a disadvantage.

• 한국인터넷방송통신학회논문지
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• 제18권3호
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• pp.35-41
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• 2018

본 논문에서는 햅틱 렌더링을 위한 동영상의 장면을 정의하고 그 중 정지 상태의 객체와 단일 객체가 충돌하는 상황에 대한 햅틱 렌더링 알고리즘을 제안한다. 객체의 움직임을 크게 네 가지 상황으로 분류하였으며 동영상에서 쉽게 볼 수 있는 장면들을 활용하였다. 제안하는 알고리즘은 움직임 예측과 객체 추적을 활용하여 객체의 방향 변화와 모양 변화를 검출함으로써 햅틱 렌더링을 하기에 적합한 프레임인지 판별할 수 있도록 하였다. 알고리즘 실행을 통해 샘플 동영상에서 총 13개의 프레임을 추출하였으며 해당 프레임이 재생되는 시간을 계산하였다. 햅틱 편집 프로그램을 통해 상황에 알맞은 햅틱 생성 파형을 추가함으로써 계산된 재생 시간에 햅틱 효과가 나타나는 것을 확인하였다.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 1부
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• pp.59-64
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• 2008

본 논문은 클라이언트/서버 구조의 촉감기반 네트워크 가상환경 시스템의 안정성을 평가하고, 네트워크 지연에 따른 촉감의 질적 저하 정도를 분석한다. 이를 통해서 안정성과 투명성을 위한 올바른 통신 구조를 도출하고 사용자가 요구하는 현실감 수준에 적합한 네트워크 상황의 예측 방법을 소개한다. 또한 네트워크 지연에 의해 생성되는 비현실적인 힘 피드백을 스프링 상수의 동적인 변경을 통해서 보상하는 네트워크 지연 보상기법을 제안한다. 촉감 기반 네트워크 응용프로그램을 기반으로 제안된 촉감기반 네트워크 가상환경 구조의 안정성 및 투명성 평가의 타당성을 검증하고 네트워크 지연 보상 기법의 유용성을 확인한다.

• 로봇학회논문지
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• 제8권3호
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• pp.173-178
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• 2013

We present six-degree-of-freedom (6DoF) haptic rendering algorithms using translational ($PD_t$) and generalized penetration depth ($PD_g$). Our rendering algorithm can handle any type of object/object haptic interaction using penalty-based response and makes no assumption about the underlying geometry and topology. Moreover, our rendering algorithm can effectively deal with multiple contacts. Our penetration depth algorithms for $PD_t$ and $PD_g$ are based on a contact-space projection technique combined with iterative, local optimization on the contact-space. We circumvent the local minima problem, imposed by the local optimization, using motion coherence present in the haptic simulation. Our experimental results show that our methods can produce high-fidelity force feedback for general polygonal models consisting of tens of thousands of triangles at near-haptic rates, and are successfully integrated into an off-the-shelf 6DoF haptic device. We also discuss the benefits of using different formulations of penetration depth in the context of 6DoF haptics.

• 제어로봇시스템학회논문지
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• 제8권5호
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• pp.393-400
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• 2002

Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the fueling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/force commands, impedance parameters are always varying. When the impedance parameters between an operator and the haptic interface and the dynamic model are known precisely, many model based control theories and methods can be used to control the device accurately. However, due to the parameters'variations and the uncertainty of the dynamic model, it is difficult to control haptic interfaces precisely. This paper presents a robust adaptive impedance control algorithm for haptic interfaces.

• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.971-976
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• 2014

Haptic device can be a useful rehabilitation tool in balance training. The proposed system is composed of a body-wear smartphone, Phantom Omni(R) device, and its control PC system. Ten young healthy subjects performed balance tasks with different postures during 30 seconds with their eyes closed. An Android program on the smartphone transferred mediolateral (ML) and anteroposterior (AP) tilt angles to the PC system, which can generate haptic command through haptic device. Statistical data analysis was performed using MATLAB(R). COP (Center of Pressure) related indexes were measured to see reduction in body sway. ANOVA showed that haptic device significantly reduced body sway. Intuitive balance guidance could be generated using an economical and small-sized commercial haptic device, making the system efficient.