• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.1
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• pp.111-118
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• 1999

Throughout this thesis, I describe the design, fabrication, and evaluation of the 3 DOF farce-reflecting haptic interface using USMs(ultrasonic motors). This haptic interface allows a htmlaIl "observer" to explore and interact with a virtual environrrent for the sense of touch. To effectively display the mechanical impedance of the htmlaIl hand we need a haptic device with specific characteristics, such as low inertia, alrmst zero friction and very high stiffness. USMs have attracted considerable attention as the actuator satisfied these conditions. An observer may grasp the end effector of revice and interact with surfaces and objects created within a virtual environment The revice provires force feedback, allowing users to "feel" objects within the environment. The device works very well, as users are able to detect the edge of the wall, the stiffness of the button and the puncture. TIle force-reflecting haptic interface could be suitable as a master for micro-surgery or as an interface to virtual reality training systems.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.277-283
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• 2006

A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a 'PHANToM' commercial haptic device. The 'Passivity Observer' (PO) and 'Passivity Control1er' (PC) stabilization method was applied to stabilize the system but also excited a high frequency mode in the device. To solve this problem, we propose a method to use a timevarying desired energy threshold instead of fixed zero energy threshold for the PO, and make the actual energy input follow the timevarying energy threshold. With the time-varying energy threshold, we make the PC control action smooth without sudden impulsive behavior by distributing the dissipation. The proposed new PO/PC approach is applied to PHANToM with high stiffness (K = 5000N/m), and stable and smooth contact is guaranteed. Resetting and active environment display problems also can be solved with the reference energy following idea.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.313-318
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• 2001

A haptic hand controller operated by the user's hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. This paper presents a design method for KU-HHC, 6 DOF Korea University-haptic hand controller, which allows separation of workspace from linkage mechanism in consideration of the efficient user operation. First, the 3 DOF mechanism in which all the actuators are mounted on the fixed base is developed by combining a 5-bar linkage and gimbal mechanism. Then, the 6 DOF HHC is designed by connecting the two 3 DOF devices through a handle. This paper presents the forward and inverse kinematics for this device and Jacobian analysis. Improvement of the kinematic characteristics using performance index is also discussed. The hand controller KU-HHC based on this design concept and kinematic analysis was manufactured and shows excellent performance.

• Proceedings of the KIEE Conference
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• 2002.06a
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• pp.67-71
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• 2002

In this paper, we propose a new deformable model based on non-linear elasticity, anisotropic behavior and the finite element method and developed the high-speed controller for haptic control. The proposed controller is based on the PCI/FPGA technology, which can calculate the real position and transmit the force data to device rapidly, The haptic system is composed of 6DOF force display device, high-speed controller and HIR library for 3D graphic deformation algorithm & haptic rendering algorithm. The developed system will be used on constructing the dynamical virtual environment. we demonstrate the relevance of this approach for the real-time simulating deformations of elastic objects. To show the efficiency of our system, we designed simulation program of force-reflecting, As the result of the experiment, we found that the controller has much higher resolution than some other controllers.

• Journal of the HCI Society of Korea
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• v.14 no.2
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• pp.13-20
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• 2019

For encountered haptic display systems among the virtual training systems for industrial safety, visual-haptic co-location is required for natural interaction between virtual and real objects. In this paper, we performed the user evaluation of the immersive VR haptic system which implement some level of visual-haptic co-location through a careful and accurate calibration method. The goal of the evaluation is to show that user performance (reaction time and distance accuracy) for both environments is not significantly different for certain tasks performed. The user evaluation results show statistically significant differences in reaction time but the absolute difference is less than 1 second. In the meantime, the distance accuracy shows no difference between the virtual and the actual environments. Therefore, it can be concluded that the developed haptic virtual training system can provide inexpensive industrial safety training in place of costly actual environment.

• Proceedings of the KIPE Conference
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• 1998.07a
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• pp.123-128
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• 1998

This paper describes the evaluation of a force-reflecting interface with ultrasonic motors(USMs). The force-reflecting interface allows a human to feel object within virtual environment. To effectively display the mechanical impedance of the human hand we need a haptic device with specific characteristics, such as low inertia, almost zero friction and very high stiffness. USMs have attracted considerable attention as the actuator satisfied these conditions. USMs combine features such as high driving torque at low rotational speed, high holding torque and fast response therefore we studied two degree of freedom force-reflecting haptic system.

• 한국HCI학회:학술대회논문집
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• 2007.02a
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• pp.578-584
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• 2007

사용자는 햅틱 장비를 통해 촉감을 느낄 수 있다. 하지만 일반적인 햅틱 장비들은 바닥에 고정된 형태이고, 또한 장치의 크기가 제한되어 있으므로, 제한된 작업공간을 가진다. 이로 인해 사용자들은 햅틱 장비의 작업공간보다 작은 물체 혹은 작업공간에 맞게 축소된 물체만을 느낄 수 있다. 이러한 햅틱 장비의 한계를 극복하고자, 햅틱 장비와 이동형 로봇을 결합한 이동형 햅틱 디스플레이를 제안한다. 이동형 햅틱 디스플레이를 위한 시스템 구성을 소개하고, 이동형 로봇의 움직임을 조종하기 위한 새로운 알고리즘을 제안한다. 이러한 이동형 햅틱 디스플레이를 사용하면 사용자는 햅틱 장비의 작업공간보다 큰 물체를 느낄 수 있으며, 가상 환경을 자유롭게 이동하면서 햅틱 피드백을 받을 수 있다.

• 한국HCI학회:학술대회논문집
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• 2007.02a
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• pp.25-31
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• 2007

본 논문에서는 질감제시장치와 진동모터를 내장한 펜형 햅틱(haptic) 인터페이스에 대해서 기술한다. 본 연구의 목적은 다양한 장치에 적용할 수 있는 소형 질감제시 모듈을 제안하고, 개발된 모듈을 펜과 같은 모양의 인터페이스에 내장하여 그 성능을 검증하는데 있다. 본 연구의 수행을 위해 핀배열을 내장하고 있으며, 저전력, 저소음으로 동작하며, 수직방향으로 1mm이상의 변위를 일으키는 소형 질감제시 모듈을 개발하였다. 그리고 개발된 모듈은 PDA나 Tablet PC등에서 흔히 사용되는 스타일러스(Stylus)와 같은 펜모양의 인터페이스에 내장되었다. 펜형 인터페이스의 헤드부분에는 팬케익 모터를 내장하여 사용자에게 진동 촉감을 제공할 수 있도록 하였다. 개발된 펜형 인터페이스의 성능을 검증하기 위하여Mobile Tablet PC상에서 내장된 질감제시 모듈이 점자정보를 촉감으로 전달할 수 있는지에 관한 실험을 수행하였으며, 모든 실험은 그래픽 사용자 인터페이스(GUI)상에서 이루어졌다. 또한 모든 버튼 조작시 '클릭'하는 느낌을 재현하였다. 실험은 동시에 다양한 자극의 주파수와 시간의 변화 조건에서 시행되어 의도하는 촉감을 가장 잘 전달하는 자극방법에 관한 연구를 동시에 수행하였다. 또한 개발된 펜형 인터페이스를 이용하여 이미지와 함께 데이터 베이스화 되어있는 질감을 재현할 수 있는 방법에 관한 기초 연구를 수행하였다.

• Proceedings of the Korean Information Science Society Conference
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• 2003.04c
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• pp.570-572
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• 2003

체감 효과 (haptic effect)는 가상 환경에서의 실재감 부여를 위하여 중요시되고 있다. 반면, 가상 객체에 실재와 흡사하게 연동하는 기술은, 체감 효과의 모델링과 함께 렌더링 시간 둥의 문제 때문에 사용의 한계를 가진다. 본 논문에서는, 실시간 체감 효과를 위하여 필수적인 가상 객체와의 동기화 기법에 대하여 다룬다. 이를 위하여, 가상 객체에 작용하는 동역학적 움직임을 체감 효과에 대응되도록 하는 알고리즘을 제안하고, 이를 실시간 충들 처리와 연동함으로써 필요한 시간을 최소화 할 수 있음을 제시한다. 본 논문의 결과로는 캐릭터의 빈번한 제어에 대응되도록 체감 효과를 생성할 수 있음을 보이며, 안정적이면서 그럴 듯한 효과를 재현할 수 있음을 보인다.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.179-185
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• 2013

In this paper we propose a haptic interaction system that physically represents the underlying geometry of objects displayed in a 2D picture, i.e., a digital image. To obtain the object's geometry displayed in the picture, we estimate the physical transformation between the object plane and the image plane based on homographic information. We then calculate the rotated surface normal vector of the object's face and place it on the corresponding part in the 2D image. The purpose of this setup is to create a force that can be rendered along with the image without distorting the visual information. We evaluated the proposed haptic rendering system using a set of pictures of objects with different orientations. The experimental results show that the participants reliably identified the geometric configuration by touching the object in the picture. We conclude this paper with a set of applications.