• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.366-371
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• 2008

In this paper, we suggest a haptic interface and a framework of interaction with haptic feedback based Windows graphical user interface (GUI) in a computing device with touch screen. The events that occur during a user interacts with Windows interfaces through a touch screen are filtered out by the Windows Interface Message Filter (WIMF) and converted into appropriate haptic feedback information by the Haptic Information Provider (HIP). The haptic information are conveyed to users through a stylus-like haptic interface interacting with a touch screen. Major Windows interaction schemes including button click, menu selection/pop-up, window selection/movement, icon selection/drag & drop and scroll have been implemented and user tests show the improved usability since the haptic feedback helps intuition and precise manipulation.

• IE interfaces
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• v.17 no.2
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• pp.158-168
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• 2004

A technology roadmap was developed for haptic interface technologies to be applied to games. Haptic interface technologies are expected to play an important role in games to provide gamers with interaction and immersive perception in near future, even though haptic interface technologies have been less studied than other perception-related technologies with respect to games. Information on two types of haptic interfaces - portable and desktop - and their evolution processes were analyzed in terms of technological demands. Haptic feedback technologies to realize these demands were inspected with the time frame and haptic feedback technologies were derived using a technology tree. The technology roadmap of haptic interfaces in game was finally constructed by mapping the technological demands in time with game technology trends. The technology roadmap of haptic interfaces will have implications on developing haptic interfaces to be applied to many applications including virtual realities and games.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.757-763
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• 2002

A newly designed haptic interface enables an operator to control a remote robot precisely. It transmits position information to the remote robot and feeds back the interaction force from it. A control algorithm of haptic interface has been studied to improve the robustness and stability to uncertain dynamic environments with a proposed contact dynamic model that incorporates human hand dynamics. A simplified hybrid parallel robot dynamic model fur a 6 DOF haptic device was proposed to from a real time control system, which does not include nonlinear components. LQC/LTR scheme was adopted in this paper for the compensation of un-modeled dynamics. The recovery of the farce from the remote robot at the haptic interface was demonstrated through the experiments.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.257-265
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• 2006

다양한 정보기기들의 복합화 형태로 진화하는 차세대 텔레매틱스 시스템에서는 운전자의 안정성 확보와 workload 감소가 중요한 이슈로 대두되어 Interface의 단순화, GUI Interaction의 극복 등의 대한 문제해결이 중요시 되고 있다. 이를 위해 본 연구에서는 사용자의 mental model를 고려한 운전자의 자유로운 navigation을 지원할 eyes-free 기술인 haptic interface를 지원하는 모델 개발을 목표로 기존 haptic interface를 지원하는 기기들의 문제점을 도출하고 차세대 텔레매틱스 시스템의 분석을 통해 기능적 요구사항을 정의하였다. 이를 기반으로 사용자에게 haptic interface를 통한 interaction을 제공함으로써 차세대 텔레매틱스 시스템을 지원하는 conceptual model을 개발하였다. 또한 haptic device design시에 고려되는 평가지표들을 선별하여 평가지표의 계층적 구조도를 작성한 후 AHP평가 모델을 개발하여 haptic device design 시의 중요 고려사항을 도출하고 중요도를 산정하여 초기 design 단계에서의 prototype에 대한 객관적이고 정량적인 평가를 제공하였다.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.11
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• pp.18-24
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• 2004

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.882-885
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• 2003

In this paper, we describe a haptic jacket and wheel as a haptic interface to enhance VR game realism. Building upon the VR game system using this devices, our haptic interface technique allows the user to intuitive interact on game contents, and then to sense the game event properties such as walking, attacking, driving and fire in a natural way. In addition, we extended the initial haptic model to support haptic decoration and dynamic interactions due to the added game event in a real time display. An application example presented here is a VR Dino-Attack game. This game supports interactions among dynamic and our intuitive haptic interface. Modeling physic interactions involves precise collision detection, real-time force computation, and high control-loop bandwidth.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.4
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• pp.213-219
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• 2000

In this paper, a controller design method is proposed for haptic interface considering transparency and robust stability. For this, a performance index for the transparency as performance measure is defined in the points of impedance matching and the optimal solution which is minimizing the performance index is obtained by solving H2 optimal problem. In haptic interface, the modeling uncertainties can be restricted to that of haptic device. To implement the robust stabilizing haptic controller to the uncertainties of haptic device, a robust stable condition using H$\infty$ norm from small gain theorem is proposed. To verify the effectiveness of the proposed haptic controller design scheme, numerical examples and experimental results are illustrated for virtual wall consisting of stiffness and damping factor.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.390-395
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• 2009

In this paper, we present practical issues in a Mobile Haptic Interface (MHI) and their improvements. The improvements can be categorized in three parts: 1) high-accuracy estimation of the world position of the haptic interface point, 2) motion planning algorithm to move the mobile base while avoiding collisions with the user and other objects, and 3) closed-loop force control to compensate the undesired effect of mobile base dynamics on the final rendering force perceived by the user.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1207-1212
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• 2007

We propose a haptic interface algorithm for joystick operators working in remote control systems of unmanned vehicles. The haptic interface algorithm is implemented using a force-feedback joystick, which is equipped with low price DC motors without encoders. Generating specific amounts of forces on the joystick pole according to the distance between a remote controlled vehicle and obstacles, the haptic interface enables the operator to perceive the distance information by the sense of touch. For the case of no joystick operation or no obstacles in the working area, we propose an origin control algorithm, which positions the joystick pole at the origin. The origin control algorithm prevents the false movement of the remote vehicles and provides the operator with a realistic force resisting the joystick pole's movement. The experiment results obtained under various scenarios exemplify the validity of the proposed haptic interface algorithm and the origin control algorithm.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.402-405
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• 2009

Digilog Book, the next generation publication material, supplies digitalized contents on an analog book by integrating digital contents into existing analog books. There are some studies related to authoring tools which are to authorize, and publish some books which provide digital contents by using VR or AR techniques. In this paper, a pen-type haptic user interface for Digilog Book authoring tool has been introduced. This haptic user interface is developed for more realistic and more effective authoring tasks. This haptic interface provides haptic effects for authoring tasks which are including translation, rotation, scaling, and menu selection. In this research, we designed a body, control circuits, vibration haptic patterns for haptic user interface, and a protocol for between haptic user interface and Digilog Book main control system. Also a simple user study has been done with a developed haptic user interface.