• Proceedings of the KSME Conference
• /
• 2008.11a
• /
• pp.1594-1599
• /
• 2008

Haptic rendering is a process that provides force feedback during interactions between a user and an object. This paper presents a haptic rendering technique for a telemanipulation system of deformable objects using image processing and physically based modeling techniques. The interaction forces between an instrument driven by a haptic device and a deformable object are inferred in real time based on a continuum mechanics model of the object, which consists of a boundary element model and ${\alpha}$ priori knowledge of the object's mechanical properties. Macro- and micro-scale experimental systems, equipped with a telemanipulation system and a commercial haptic display, were developed and tested using silicone (macro-scale) and zebrafish embryos (micro-scale). The experimental results showed the effectiveness of the algorithm in different scales: two experimental systems applied the same algorithm provided haptic feedback regardless of the system scale.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.51 no.10
• /
• pp.439-445
• /
• 2002

In this paper force feedback control system is investigated for improving the quality of the haptic feedback in virtual reality applications. We suggested the method of controlling the haptic device and modelling the virtual environment. Haptic device is composed of five bar link structure, voice coil motor, control board, and virtual environment modeling program. We applied voice coil motor in the actuating system for simple structure and easy control. Virtual environment modelling is constructed in PC, and the control signals of the actuators and the encoder data are transferred to the control system through USB. Experiment is performed to evaluate the characteristics of the haptic device.

• Journal of the Korea Computer Graphics Society
• /
• v.26 no.3
• /
• pp.69-77
• /
• 2020

This paper proposes an effective method of giving users feedback on 3-dimensional drawing and measures its performance to ensure that feedback can help users enter the correct position in 3D. In the experiment of drawing a given line shape using a hand-held controller, the user is provided with three levels of visual, auditory, and haptic feedback for the position input error. As a result of analyzing the position input accuracy according to the type of feedback, all types of feedback are able to significantly reduce errors, and visual feedback and haptic feedback are more effective than auditory feedback.

• Korean Journal of Computational Design and Engineering
• /
• v.15 no.2
• /
• pp.136-143
• /
• 2010

Realistic Modeling is to maximize the reality of the environment in which perception is made by virtual environment or remote control using two or more senses of human. Especially, the field of haptic rendering, which provides reality through interaction of visual and tactual sense in realistic model, has brought attention. Haptic rendering calculates the force caused by model deformation during interaction with a virtual model and returns it to the user. Deformable model in the haptic rendering has more complexity than a rigid body because the deformation is calculated inside as well as the outside the model. For this model, Gibson suggested the 3D ChainMail algorithm using volumetric data. However, in case of the deformable model with non-homogeneous materials, there were some discordances between visual and tactual sense information when calculating the force-feedback in real time. Therefore, we propose an algorithm for the Volume Haptic Rendering of non-homogeneous deformable object that reflects the force-feedback consistently in real time, depending on visual information (the amount of deformation), without any post-processing.

• The Journal of Korea Robotics Society
• /
• v.3 no.2
• /
• pp.137-145
• /
• 2008

We present the initial results of on-going research for building a novel Mobile Haptic Interface (MHI) that can provide an unlimited haptic workspace in large immersive virtual environments. When a user explores a large virtual environment, the MHI can sense the position and orientation of the user, place itself to an appropriate configuration, and deliver force feedback, thereby enabling a virtually limitless workspace. Our MHI (PoMHI v0.5) features with omnidirectional mobility, a collision-free motion planning algorithm, and force feedback for general environment models. We also provide experimental results that show the fidelity of our mobile haptic interface.

• Journal of information and communication convergence engineering
• /
• v.22 no.2
• /
• pp.127-132
• /
• 2024

Haptic actuators for large display panels play an important role in bridging the gap between the digital and physical world by generating interactive feedback for users. However, the generation of meaningful haptic feedback is challenging for large display panels. There are dead zones with low haptic sensations when a small number of actuators are applied. In contrast, it is important to control the traveling wave generated by the actuators in the presence of multiple actuators. In this study, we propose a particle swarm optimization (PSO)-based algorithm for the haptic localization of plates with electrostatic vibration actuators. We modeled the transverse displacement of a plate under the effect of actuators by employing the Kirchhoff-Love plate theory. In addition, starting with twenty randomly generated particles containing the actuator parameters, we searched for the optimal actuator parameters using a stochastic process to yield localization. The capability of the proposed PSO algorithm is reported and the transverse displacement has a high magnitude only in the targeted region.

• Journal of the Korean Society of Safety
• /
• v.28 no.4
• /
• pp.19-25
• /
• 2013

For safe remote control, information on remote environment has to be delivered to operator realistically, and there have been numerous research efforts on this respect. Among them, haptic technology can significantly enhance safety and overall effectiveness of remote operation by delivering various kinds of information on virtual or real environment to operator. In this study, remote control based on haptic feedback is applied to control of mobile robot moving according to the command from operator avoiding collision with environmental obstacles and maintaining safe distance from them using ultrasonic sensors. Specifically, a remote feedback control structure for mobile robot is proposed. The controller is based on the inner feedback loop that directly utilizes information on distance to obstacles, and the outer feedback loop that the operator directly commands using the haptic device on which the computed reaction force based on the distance information is acting. Effectiveness of the proposed remote control scheme using double feedback loops is verified through a series of experiments on mobile robot.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.13 no.11
• /
• pp.4968-4974
• /
• 2012

A haptic device is regarded as the human machine interface technology for easier, more accurate, and intuitive operation. The purpose of this paper is to study how to improve the cognitive ability of the existing vehicle haptic device used only tactile feedback. In this study, usability evaluation used the multi-sensory feedback which is adding auditory feedback to the existing tactile feedback. The emotional factor that drivers have on the haptic device is extracted by the sensibility analysis. The result of study provides some consideration and direction to need in implementation of a haptic device and it also confirms their possibility meaningfully. And it is possible to suggest the design direction that satisfies the driver.

• Fashion & Textile Research Journal
• /
• v.21 no.4
• /
• pp.401-411
• /
• 2019

Non-contact judgment and evaluation for products are increasingly needed along with a rapid environmental change in fashion that sows urgency in the need to implement services that allows users to judge and experience a tactile sense in a fashion product without actual contact. Technological development is required to provide users with syn-aesthetic experiences that integrate the visual, tactile and the auditory. There is also a need to conduct research to increase immersion that provides users with ICT-related experiences communicated through fashion images. The study analyzed demands for haptic communication technology by Korean users in immersive VR fashion product shopping. Accordingly, it defined haptic communication through literature research, investigated immersion in the VR environment and conducted in-depth interviews for haptic communication applicable to VR shopping. Findings show that hedonic reactions by fantasy, emotion and fun function are an important motive in selecting VR shopping. VR fashion product shopping steps were divided into 4: move to store, search in store, search of product and purchase based on offline store shopping experience. It defined the haptic communication by steps and analyzed the types of the haptic feedback to be implemented. The study results provide basic data for developing haptic communication technology that can enhance e a sense of the presence and immersion experiences that can help lay a groundwork for pilot studies on the convergence of the virtual and the real.

• Journal of Korea Society of Industrial Information Systems
• /
• v.17 no.1
• /
• pp.11-20
• /
• 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.