• 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.

• 문화기술의 융합
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• 제7권1호
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• pp.662-667
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• 2021

진동 햅틱 피드백은 최신 터치 디스플레이의 주요한 기능으로, 화면의 인터페이스와 상호 작용할 때 사용자의 조작성 및 몰입감을 크게 향상시킨다. 본 연구에선 정전기력 기반의 메커니즘을 적용하여 강한 진동 출력을 생성할 수 있으면서도, 얇은 평판 타입으로 제작이 가능하여 중대형 디스플레이의 뒷면에 탑재하기에 적합한 진동 햅틱 액추에이터를 제안하고자 한다. 제안된 액추에이터는 방사형 판스프링에 매달려 전기적으로 접지된 Mass를 이격 되어 있는 상하의 전극에 의해 정전기력으로 상하로 교번하여 진동력을 증폭시킬 수 있는 구조로 개발되었다. 성능평가 결과, 개발된 액추에이터가 2개 내장된 Bar-Type 모듈에서 170 Hz에서 최대 3.3g의 우수한 진동 출력을 보여, 중대형 터치 디스플레이에서 햅틱 피드백 제공에 대한 가능성이 확인되었다.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 3부
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• pp.19-24
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• 2008

본 논문은 원격제어(teleoperation)시스템에서 카메라로부터의 실시간 영상정보를 이용하여 조작대상이 되는 물체의 물리기반모델(physically-based model)을 만들고 이를 기반으로한 햅틱 렌더링 알고리즘의 개발에 관한 것이다. CCD 카메라를 통한 영상정보와 물성치(mechanical properties)를 이용하여 변형체(deformable object)의 물리적 기반 모델이 구현되고 햅틱장치로 조종되는 평면 로봇(planar robot)을 제어하여 변형체에 변형을 가하면 구현된 물리적 모델에 의해 햅틱 피드백을 위한 반력값이 계산된다. 스네이크 알고리즘을 이 용하여 영상정보로부터 변형체의 외형정보(geometry information)를 추출하며, 변형체의 경계(boundary)에서의 반력값을 계산하기 위해 경계요소법(boundary element method)을 사용한다. 제안된 햅틱 렌더링 알고리즘을 이용하여 원격조작간에 힘센서를 사용하지 않고 사용자에게 햅틱 피드백을 제공할 수 있다.

• 조명전기설비학회논문지
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• 제13권1호
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• pp.111-118
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• 1999

함반영 촉각장치(Force-Reflecting haptic Interface)는 인간이 컴퓨터에 의해 생성한 가상의 세계에 손의 위치 정보를 제공하고 가상의 손이 가상 환경에 접촉했을 때 인간에게 촉각을 전달하는 장치이다. 본 논문에서는 컴플라이언스 제어가 비교적 용이한 초음파 모터 액츄에이터를 사용하여 직접구동 방식으로 촉각장치를 설계하였다. 렌더링 알고리즘을 이용하여 가상의 벽, 가상 버튼, 가상 구멍 등의 기본적인 역감실험을 한 결과 힘 반영에 의한 역감을 제시받을 수 있었다.

• 로봇학회논문지
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• 제8권3호
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• pp.197-205
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• 2013

This paper presents a robotic system that provides telepresence to the visually impaired by combining real-time haptic rendering with multi-modal interaction. A virtual-proxy based haptic rendering process using a RGB-D sensor is developed and integrated into a unified framework for control and feedback for the telepresence robot. We discuss the challenging problem of presenting environmental perception to a user with visual impairments and our solution for multi-modal interaction. We also explain the experimental design and protocols, and results with human subjects with and without visual impairments. Discussion on the performance of our system and our future goals are presented toward the end.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1662-1667
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• 2005

In this paper, analysis, design, control and prototype construction of a wearable wire-driven haptic interface called HapticPen is discussed. This device can be considered as a wire driven parallel mechanism which three wires are attached to a pen-tip. Wire tensions are provided utilizing three DC servo motors which are attached to a solid frame on the user's body. This device is designed as input as well as output device for a wearable PC. User can write letters or figures on a virtual plate in space. Pen-tip trajectory in space is calculated using motor encoders and force feedback resulting from contact between pen and virtual plate is provided for constraining the pen-tip motion onto the virtual plane that can be easily setup by arbitrary non-collinear three points in space. In this paper kinematic model, workspace analysis, application analysis, control and prototype construction of this device are presented. Preliminary experiments on handwriting in space show feasibility of the proposed device in wearable environments.

• 산업기술연구
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• 제19권
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• pp.415-421
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• 1999

In this paper, a 2D X-Y table, two axes of which are symmetrical, and a force sensing device are constructed, which comprise a 2D haptic interfacing apparatus. Two DC motors are used for actuating the two axes of the table and two precision encoders for sensing the position of each axis. Four PZTs are used for sensing the direction and the magnitude of the 2D force applied to the force sensing device by the user. The performance of the 2D haptic interface device is tested by 2D virtual object recognition experiments.

• 한국표면공학회지
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• 제39권2호
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• pp.64-69
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• 2006

Nanoscale task such as nanolithography and nanoindenting is a challenging work that is beyond the capabilities of human sensing and precision. Since surface forces and intermolecular forces dominate over gravitational and other more intuitive forces of the macro world at the nanoscale, a user is not familiar with these novel nanoforce effects. In order to overcome this scaling barrier, haptic interfaces that consist of visual and force feedback at the macro world have been used with an Atomic Force Microscope (AFM) as a manipulator at the nanoscale. In this paper, a nanoscale virtual coupling (NSVC) concept is introduced and the relationship between performance and impedance scaling factors of velocity (or position) and force are explicitly represented. Experiments have been performed for nanoindenting and nanolithography with different materials in the nanoscale virtual surface. The interaction forces (non contact and contact nanoforces) between the AFM tip and the nano sample are transmitted to the operator through the haptic interface.

• 제어로봇시스템학회논문지
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• 제19권7호
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• pp.605-613
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• 2013

This research proposes a vibration pattern algorithm to implement the haptic joystick to control a mobile robot at the remote site without watching the navigation environment. When the user cannot watch the navigation environment of the mobile robot, the user may rely on the haptic joystick solely to avoid obstacles and to guide the mobile robot to the target. To generate vibration patterns, there is a vibration motor at the bottom of the joystick which is held by the user to control the motion direction of the mobile robot remotely. When the mobile robot approaches to an obstacle, a pattern of vibration is generated by the motor, and by feeling the vibration pattern which is determined by the relative position of the mobile robot to the obstacle, the user can move the joystick to avoid the collision to the obstacle for the mobile robot. To generate the vibration patterns to convey the relative location of the obstacle near the mobile robot to the user, Fuzzy interferences have been utilized. To measure the distance and location of the obstacle near the mobile robot, ultrasonic sensors with the ring structure have been adopted and they are attached at the front and back sides of the mobile robot. The precise location of the obstacle is obtained by fusing the multiple data from ultrasonic sensors. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.537-538
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• 2012