• The Journal of Korea Robotics Society
• /
• v.14 no.2
• /
• pp.150-156
• /
• 2019

Haptic systems have been widely used for both virtual reality and augmented reality application including game, entertainment, education and medical sectors. Clothing designers and retailers initiated using AR and VR technologies to help the consumers find style with the perfect fit. Most of the developed augmented reality shopping is implemented by overlapping the image of the clothes on the customer so that he/she can find the fit. However, those are only visual information and the customer cannot experience the real size and the stiffness of the clothes. In this paper, we present the haptic upper garment which provides the haptic feedback to the user using cables. By controlling the length of the cable, the size of the clothes is set and by stiffness control, the compliance of the fabric is implemented. The haptic garment is modeled for precise control and the distributed controller architecture is described. With the haptic upper garment, the user's experience of the virtual clothes is greatly enhanced.

• Journal of the Korea Computer Graphics Society
• /
• v.26 no.1
• /
• pp.1-6
• /
• 2020

Patella surgery of small animal is an important veterinary surgery that the veterinarian should saw and drill the dislocated patella in order to fix the corrected position. However, the animal protection laws restrict the veterinarian students' chances for the practice and training of the patella surgery. This paper proposed a haptic based patella surgery simulator for veterinarian students. We modelled force feedback methods in order to provide best similar haptic feedbacks to the real drilling feedbacks in the patella surgery. The proposed patella drilling simulator provides haptic interface as a drill and a workbench in order to provide best surgery experiences. We conducted the performance evaluations in order to prove usability of the proposed patella surgery interface.

• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.780-785
• /
• 2007

Accurate and fast haptic simulations of deformable objects are desired in many applications such as medical virtual reality. In haptic interactions with a coarse model, the number of nodes near the haptic interaction region is too few to generate detailed deformation. Thus, local refinement techniques need to be developed. Many approaches have employed purely geometric subdivision schemes, but they are not proper in describing the deformation behavior of deformable objects. This paper presents a continuum mechanics-based finite element adaptive method to perform haptic interaction with a deformable object. This method superimposes a local fine mesh upon a global coarse model, which consists of the entire deformable object. The local mesh and the global mesh are coupled by the s-version finite element method (s-FEM), which is generally used to enhance accurate solutions near the target points even more. The s-FEM can demonstrate a reliable deformation to users in real-time.

• Proceedings of the KIEE Conference
• /
• 2005.10b
• /
• pp.78-80
• /
• 2005

Haptic interface apparatus is the device which can offer users virtual reality not only by visualization of virtual space but also by force or tactile feedback. In this paper, we designed and fabricated a 2D haptic interface device that can be used for various purposes, and implemented a virtual air-hockey system that users can easily find in game rooms. By suitable modeling and haptic rendering, users can feel the impact and the reaction force with his/her hand holding the handle through 2D haptic interface device when he/she hit an air-hockey puck with the handle. Through the trial demonstration. we observed the reasonable effect of direction and speed of a ball like doing in reality.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2006.04a
• /
• pp.373-380
• /
• 2006

Accurate and fast haptic simulations of deformable objects are desired in many applications such as medical virtual reality. In haptic interactions with a coarse model, the number of nodes near the haptic interaction region is too few to generate detailed deformation. Thus, local refinement techniques need to be developed. Many approaches have employed purely geometric subdivision schemes, but they are not proper in describing the deformation behavior of deformable objects. This paper presents a continuum mechanics-based finite element adaptive method to perform haptic interaction 'with a deformable object. This method superimposes a local fine mesh upon a global coarse model, which consists of the entire deformable object. The local mesh and the global mesh are coupled by the s-version finite element method (s-FEM), which is generally used to enhance accurate solutions near the target points even more. The s-FEM can demonstrate a reliable deformation to users in real-time.

• Journal of Digital Contents Society
• /
• v.18 no.8
• /
• pp.1489-1494
• /
• 2017

The purpose of this study is to investigate the limitations of virtual space game contents staying in the first-person viewpoint in the field of digital games with various genres through precedent researches and case studies, and to investigate the differences of immersion, presence, and fun based on the user interfaces, such as the viewpoints (first-person, third-person) and haptic feedback. The experimental results show that when the game is the first-person with the haptic feedback, the immersion, presence, and fun increase. However, the interaction effect between the virtual space environment and the game viewpoint was not found. As a result, it is appropriate to use the haptic feedback and the first-person viewpoint in the virtual reality games, but the fact that the game viewpoints and the virtual space environment are not huge relevant, and the third-person viewpoint is more popular than first-person viewpoint game, therefore the possibility of a third-person viewpoint game would be suggested.

• Proceedings of the Korean Society of Broadcast Engineers Conference
• /
• 1998.06b
• /
• pp.67-72
• /
• 1998

The paper aims to present a new human-scale haptic advice for virtual environment named Scaleable-SPIDAR (Space Interface Device for Artificial Reality), which can provides different aspects of force feedback sensations, associated mainly with weight, contact and inertia, to both hands within a cave-like space. Tensioned string techniques are used to generate such haptic sensations, while keeping the space transparent and unbulky. The device is scaleable so as to enclose different cave-like working spaces. Scaleable-SPIDAR is coupled with a large screen where a computer generated virtual world is displayed. The used approach is shown to be simple, safe ad sufficiently accurate for human-scale virtual environment.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.19 no.12
• /
• pp.910-917
• /
• 2018

This paper describes the developments to improve the feeling and safety of the remote control system of unmanned vehicles. Generally, in the case of the remote control systems, a joystick-type device or a simple steering-wheel are used. There are many cases, in which there are operations without considering the feedback to users and driving feel. Recently, as the application area of the unmanned vehicles has been extended, the problems caused by not considering the feedback are emphasized. Therefore, the need for a force feedback-haptic control arises to solve these problems. In this study, the force feedback-haptic control algorithm considering the vehicle parameters is proposed. The vehicle parameters include first the state variables of dynamics, such as the body side-slip angle (${\beta}$) and yawrate (${\gamma}$), and second, the parameters representing the driving situations. Force feedback-haptic control technology consists of the algorithms for general and specific situations, and considers the situation transition process. To verify the algorithms, a simulator was constructed using the vehicle dynamics simulation tool with CAN communication environment. Using the simulator, the feasibility of the algorithms was verified in various scenarios.

• Journal of Computing Science and Engineering
• /
• v.10 no.1
• /
• pp.32-38
• /
• 2016

Navigating a large 3D virtual environment using a generic haptic device can be challenging since the haptic device is usually bounded by its own physical workspace. On the other hand, mouse interaction easily handles the situation with a clutching mechanism-simply lifting the mouse and repositioning its location in the physical space. Since the haptic device is used for both input and output at the same time, in many cases, its freedom needs to be limited in order to accommodate such a situation. In this paper, we propose a new mechanism called Z-Clutching for 3D navigation of a virtual environment by using only the haptic device without any interruption or sacrifice in the given degrees of freedom of the device's handle. We define the clutching state which is set by pulling the haptic handle back into space. It acts similarly to lifting the mouse off the desk. In this way, the user naturally feels the haptic feedback based on the depth (z-direction), while manipulating the haptic device and moving the view as desired. We conducted a user study to evaluate the proposed interaction technique, and the results are promising in terms of the usefulness of the proposed mechanism.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.7
• /
• pp.602-608
• /
• 2005

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic devices. Motors can generate a torque in any direction, but they can make the system active during operation, thus leading to instability. Brakes can generate a torque only against their rotation, but they dissipate energy during operation, which makes the system intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. Among various haptic effects, contact with the virtual wall, representation of friction and representation of plastic deformation have been investigated extensively in this paper. It is shown that the hybrid haptic device is more suited to some applications than the motor-based haptic device.