• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.210-218
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• 2006

본 논문은 광주과학기술원(GIST)에서 개발하고 있는 전남지역 '운주사'의 천불천탑 설화를 근간으로 한 반응형 가상 문화 체험 시스템(Responsive Multimedia System for virtual storytelling)의 햅틱 변형 상호작용에 관한 것이다. 기존의 디지털 문화재 체험 시스템은 사실적인 체험을 제공하기 위해 시각 및 청각 기술 개발에 많은 연구 및 노력이 이루어져왔다. 그러나 최근 인간의 인지 체계의 중요 요소인 촉감 상호작용의 중요성이 증대 됨에 따라, 본 논문에서는 가상 문화재 체험을 위한 햅틱 변형 알고리즘 및 상호작용 시스템을 개발하여 가상 불상을 만져보고 그 표면을 변형시키게 함으로써 몰입감을 증대하고 재미를 주는 시스템을 제공하였다. 아울러 체험의 몰입감 증대를 위해 본 시스템은 시/청각과 더불어 청각 효과를 가미하여 체험 시 발생되는 주변 환경의 소리(새, 물, 바람소리)를 제공하고, 기존의 문화체험 시스템과의 차별성을 위해 3 차원 입력장치를 이용하여 체험자가 직접 가상 불상을 변형시키면서 체험자 고유의 작품을 만들어낼 수 있는 상호작용을 제공한다. 따라서 제안된 햅틱 변형 상호작용 시스템은 체험자의 능동적 참여 및 흥미 유발을 통하여 문화 유산에 대한 교육적 효과 및 관심 증대에 기여할 수 있을 것이라 여겨진다.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.918-925
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• 2006

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1802-1807
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• 2005

Tangible interface can be understood as a newly defined concept, which can provide an effective and seamless interaction between the human as a subjective existence and the cyberspace as an objective existence. Tactile sensation is essential for many exploration and manipulation tasks in the tangible space. In this paper, we suggest the design of an integrated tactile sensor-display system that provides both of sensing and feedback with kinesthetic force, pressure distribution, vibration and slip/stretch. A new tactile sensor with PDVF strips and display system with bimorph actuators has been developed and integrated by developed signal processing algorithm. In the scenario of haptic navigation in the tangible space, tactile feedback system is successfully experimented.

• Journal of the HCI Society of Korea
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• v.2 no.2
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• pp.1-9
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• 2007

In this paper, we propose a reconstruction technique of the lost hair region for 3D human actor modeling. An active depth sensor system can simultaneously capture both color and geometry information of any objects in real-time. However, it cannot acquire some regions whose surfaces are shiny and dark. Therefore, to get a natural 3D human model, the lost region in depth image should be recovered, especially human hair region. The recovery is performed using both color and depth images. We find out the hair region using color image first. After the boundary of hair region is estimated, the inside of hair region is estimated using an interpolation technique and closing operation. A 3D mesh model is generated after performing a series of operations including adaptive sampling, triangulation, mesh smoothing, and texture mapping. The proposed method can generate recovered 3D mesh stream automatically. The final 3D human model allows the user view interaction or haptic interaction in realistic broadcasting system.

• Journal of Mechanical Science and Technology
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• v.19 no.6
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• pp.1290-1303
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• 2005

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.3
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• pp.156-165
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• 2005

Human being recognizes the physical world by integrating a great variety of sensory inputs, the information acquired by their own action, and their knowledge of the world using hierarchically parallel-distributed mechanism. In this paper, authors propose the sensor fusion system that can recognize multiple 3D objects from 2D projection images and tactile informations. The proposed system focuses on improving recognition performance of 3D objects. Unlike the conventional object recognition system that uses image sensor alone, the proposed method uses tactual sensors in addition to visual sensor. Neural network is used to fuse the two sensory signals. Tactual signals are obtained from the reaction force of the pressure sensors at the fingertips when unknown objects are grasped by four-fingered robot hand. The experiment evaluates the recognition rate and the number of learning iterations of various objects. The merits of the proposed systems are not only the high performance of the learning ability but also the reliability of the system with tactual information for recognizing various objects even though the visual sensory signals get defects. The experimental results show that the proposed system can improve recognition rate and reduce teeming time. These results verify the effectiveness of the proposed sensor fusion system as recognition scheme for 3D objects.

• Journal of Sensor Science and Technology
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• v.31 no.5
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• pp.324-329
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• 2022

This paper proposes a shift-register-based multichannel ultrasonic focusing delay control method using a complex programmable logic device (CPLD) for a high resolution of ultrasonic focusing system. The proposed method can achieve the ultrasonic focusing through the delay control of driving signals of each ultrasonic transducer of an ultrasonic array. The delay of the driving signals of all ultrasonic channels can be controlled by setting the shift register in the CPLD. The experiment verified that the frequency of the clock used for the delay control increased, the error of the focusing point decreased, and the diameter of the focusing point decreased as the length of the shift register in the proposed method. The proposed method used only one CPLD for ultrasonic focusing and did not require to use complex hardware circuits. Therefore, the resources required for the design of an ultrasonic focusing system could be reduced. The proposed method can be applied to the fields of human computer interaction (HCI), virtual reality (VR) and augmented reality (AR).

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.238-243
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• 2006

최근에는 통신기술과 인터넷의 발달로 원격의 사람과 전화, 이메일, 메신저 또는 화상회의 시스템 등을 통해서 쉽게 의사소통 할 수 있다. 이 시스템들은 주로 음성, 그림, 동영상 또는 문자 기반의 시청각 정보를 서로 주고 받으며 자신의 의사 및 감정을 전달하는 통로를 제공한다. 그러나 일상 생활에서 시청각 정보 외에 촉감 정보도 서로 의사소통 하는데 중요한 역할을 한다. 악수, 포옹 등의 촉감 상호작용은 사람 사이에서 친근감을 표시하는데 가장 직접적인 방법으로 자신의 감정을 전달하거나 느낌을 표현하는데 사용된다. 그럼에도 불구하고 촉감 상호작용을 가능케 하는 의사소통 시스템의 연구는 아직 폭넓게 진행되고 있지 않다. 본 논문에서는 일상에서와 같이 원격에서도 상대를 바라 볼 수 있고 자연스럽게 접촉할 수 있는 원격 촉감 커뮤니케이션 시스템을 제안한다. 이 시스템에서는 로컬 사용자가 손가락으로 상대의 몸 특정 부위를 만질 수 있고 서로 그 촉감을 실시간으로 느낄 수 있다. 이 시스템은 크게 AR 시스템, 그래픽 시스템, 햅틱 시스템, 택타일 시스템의 부시스템들로 나눌 수 있다. AR 시스템에서는 몸의 한 부위에 사각형의 AR 마커를 부착한 원격 사용자를 웹카메라로 촬영하고 ARToolKit 을 사용하여 마커의 위치를 측정한다. AR 마커의 바로 밑에는 택타일 장치가 장착되어 있으며 이 부위를 통하여 원격의 사용자는 로컬사용자가 자신의 팔을 만지는 느낌을 받게된다. 그래픽 시스템은 로컬사용자에게 촬영된 원격 사용자와 측정된 마커의 위치가 대표하는 원격 사용자의 가상 피부, 그리고 자신의 가상 손가락을 보여준다. 햅틱 시스템에서는 촉감 장치를 사용하여 로컬 사용자의 손가락 위치를 구하여 원격 사용자의 가상 피부와 접촉했을 때 그 충돌을 감지하고 접촉력을 계산하여 촉감 장치에 반영함으로써 그 접촉력을 느낄 수 있도록 한다. 택타일 시스템에서는 원격 사용자의 AR 마커 밑에 장착된 배열 타입의 진동 촉감 장치에 접촉 정보를 주어 로컬 사용자와 접촉 했을 때 접촉 부위에 진동을 줌으로써 촉감을 느끼도록 한다.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.43 no.4 s.310
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• pp.103-112
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• 2006

In this paper, we propose a PC based immersive virtual environment system with expandability and compatibility in contrary to existing immersive virtual environment(IVE) systems which have been implemented by supercomputer or special computing system. The application based on commercial personal compute may have two major advantage: one is variety of resources, the other is user-friendly interface. This system intends to offer easy contact to IVE system, realistic images, and convenience. Also, the system can handle various virtual reality at real-time and make it easier to interface existing complicated haptic device. Geometric techniques are adopted to calculate and visualize the physical phenomenon to speed up the computing time. The proposed implementation method of PC based immersive virtual environment system is implemented to the example in which user move around inside of and interact with virtual office environment wearing data glove, behavior recognition devices, and HMD.

• Journal of Ocean Engineering and Technology
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• v.26 no.6
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• pp.59-65
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• 2012

In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom (DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.