• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.203-213
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• 2009

Medicine is one of great application fields where Virtual Reality (VR) technologies have been successfully utilized. The VR technologies in medicine bring together an interdisciplinary community of computer scientists and engineers, physicians and surgeon, medical educator and students, military medical specialists, and biomedical futurists. The primary feedback of a VR system has been visual feedback. The complex geometry for graphic objects and utilizing hardware acceleration can be incorporated with in order to produce realistic virtual environments. To enhance human-computer interaction (HCI), in term of immersive experiences perceived by users, haptic, speech, olfactory and other non-traditional interfaces should also be exploited. Among those, hapic feedback has been tightly coupled with visual feedback. The combination of the two sensory feedbacks can give users more immersive, realistic and perceptive VR environments. Haptic feedback has been studied over decades and many haptic based VR systems have been developed. This paper focuses on haptic feedback in term of its medical usages. It presents a survey of haptic feedback techniques with their applications in medicine.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.25 no.6
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• pp.12-16
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• 2002

Virtual reality (VR) opened the possibility of moving beyond the 2-D world of conventional desktop systems to an immersive, multi-sensory environment generated by computer graphics. Haptic feedback (Haptics) is now starting to get recognition and use in intensive applications for manipulation, while smell and taste feedback are at the stage of early research. This paper reviews some current works on increased haptic feedback augmentation in virtual reality applications.

• 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.

• The Journal of Korea Robotics Society
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• v.8 no.3
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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.

• Journal of the Institute of Convergence Signal Processing
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• v.14 no.4
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• pp.212-216
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• 2013

As virtual reality technologies are advanced rapidly, how to render 3D objects across modalities is becoming an important issue. This study is therefore aimed to investigate human discriminability on the curvature of 3D polygonal surfaces with focusing on the vision and touch senses because they are most dominant when explore 3D shapes. For the study, we designed a psychophysical experiment using signal detection theory to determine curvature discrimination for three conditions: haptic only, visual only, and both haptic and visual. The results show that there is no statistically significant difference among the conditions although the threshold in the haptic condition is the lowest. The results also indicate that rendering using both visual and haptic channels could degrade the performance of discrimination on a 3D global shape. These results must be considered when a multimodal rendering system is designed in near future.

• ETRI Journal
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• v.29 no.3
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• pp.305-310
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• 2007

If a virtual object in a virtual environment represented by a stereo vision system could be touched by a user with some tactile feeling on his/her fingertip, the sense of reality would be heightened. To create a visual impression as if the user were directly pointing to a desired point on a virtual object with his/her own finger, we need to align virtual space coordinates and physical space coordinates. Also, if there is no tactile feeling when the user touches a virtual object, the virtual object would seem to be a ghost. Therefore, a haptic interface device is required to give some tactile sensation to the user. We have constructed such a human-computer interaction system in the form of a simple virtual reality game using a stereo vision system, a vibro-tactile device module, and two position/orientation sensors.

• Journal of Institute of Convergence Technology
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• v.6 no.1
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• pp.43-47
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• 2016

In this paper, we report a work-in-progress about development of multi-drone system for smart agriculture. The multi-drone system is controlled via a haptic teleoperation by a human operator. The purpose of the multi-drone system is that let the human operator to easily handle the multiple drones which are maintaining a fixed formation using ZigBee communication network.

• International journal of advanced smart convergence
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• v.3 no.1
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• pp.11-14
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• 2014

We have been designing human interactions for some learning support system or education system. The design is based on a symbol grounding model. The model is applicable to many learning domains using virtual reality technology. The design policy is simple and compact. In order to realize the policy we use/reuse some devices from the viewpoint of virtual reality. This paper introduces basic ideas and explains several example cases based on the idea.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.225-229
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• 2006

햅틱 인터페이스 장치는 가상공간 상에서 얻어지는 시각적 효과와 더불어 힘(촉각)을 전달하여 사용자에게 현실감을 줄 수 있는 장치이다. 본 논문에서는 다양한 용도로 사용할 수 있는 2 차원 햅틱 인터페이스 장치를 설계 및 제작하고, 입체영상 시스템과 연동하여 오락실에서 흔히 볼 수 있는 에어하키 시스템을 가상현실 기술로 구현하였다. 이때 적절한 모델링과 햅틱 렌더링을 통하여 가상 에어하키 공을 칠 때 사용자가 핸들을 잡은 손으로 느끼는 충격과 반력을 2 차원 햅틱 인터페이스 장치를 통하여 느낄 수 있도록 하였다. 구현된 시스템의 시연을 통하여 공과 핸들의 충돌 시 공이 튕겨 나가는 방향과 속도가 실제와 유사하고 공과 핸들에서 충돌이 일어날 때 실제와 상당히 유사한 느낌은 얻을 수 있음을 확인하였다.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.156-163
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• 2013

This paper describes a flexible visuo-haptic display module. We have developed a flexible electro-active polymer (EAP) actuator and a thin flexible visual display with $3{\times}3$ array configuration via polymer technology. The flexible actuator consists of nine EAP cells vertically moving in response to change in their thickness. The flexible display uses polymer based optical waveguide allowing light to scatter only at specific area. The display film is transparent and identically designed to the array pattern to fit for the arrangement of actuator cells. A pressure sensor is installed under the integrated module. The performance of the actuator is proved to be sufficient for satisfying perceivable range of human touch sense. The integrated system can provide interactive haptic feedback such as key pressing, contact vibration sensations, and etc. in accordance with user input.