• 대한인간공학회지
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• 제32권4호
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• pp.371-380
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• 2013

Objective: The aim of this study is to investigate the effects of design parameters of vibrotactile signals on semantic association with transmitted information conveying different meanings. Background: As information communication relying on human visual channel becomes excessive, the utility of vibrotactile signals is being interested as a substitute measure of delivering information. Properly designed hapticons may relieve burden of visual communication by rendering distinct and meaningfully compatible haptic sensations. Method: A typical Kansei engineering approach was adopted in this study. Ten most distinctive hapticons were selected among those having different frequencies and amplitudes. Associations between the hapticons and twenty four pairs of adjectives used to describe the state of automobile in control were gathered from thirty subjects using semantic differential scales. Results: The selected pairs of adjectives were summarized by factor analysis into two semantic dimensions named 'Awareness' and 'Directionality'. The experimental hapticons matched with the semantic dimensions were presented as a haptic emotion map. Conclusion: The results from this study support that frequencies and amplitudes of haptic signals play important roles in arousing different human perceptions regarding the two haptic emotional dimensions. Application: Properly designed hapticons with respect to the contents of transmitted information will increase human operator's situation awareness as well as system performance. The result from this study can be used to develop standardized hapticons for active haptic communication.

• 복식문화연구
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• 제28권5호
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• pp.705-718
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• 2020

The goal of this study was to develop a haptic communication system that can convey the tactile sensation of fashion materials in a virtual environment. In addition, the effectiveness and how realistically the virtual fabric image of this system delivers the tactile sensation of actual fabric was verified. First, a literature review was conducted through which the tactile attributes of fashion materials were defined that would be implemented in the haptic communication system. Then, a questionnaire for evaluating the tactile attributes of fashion materials was developed. Next, a haptic communication system was designed to convey fashion image experiences in a virtual environment, from which a haptic rendering model was suggested. The effectiveness of the haptic communication system was evaluated by verifying user experiences with questions developed through a user evaluation experiment. The validity of the evaluation questions pertaining to the tactile attributes and the effects of the haptic communication system were verified. Factor analysis was conducted to verify the evaluation of the tactile sense attributes of the fashion material, which identified density, thickness, and elasticity of the material as key factors. As a result of comparisons between the tactile sense through haptic characteristics and through touching, it was observed that regarding density and thickness, tactile sense experience led to greater perceived reality, while this was not the case for elasticity.

• 방송과미디어
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• 제11권4호
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• pp.118-131
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• 2006

최근 초고속 인터넷과 디지털미디어의 획기적인 발전으로 전통적인 시청각미디어의 한계를 뛰어넘어 인간의 오감을 자극할 수 있는 실감방송이 차세대 방송기술로 등장하고 있다. 본 논문은 인간의 오감 중 촉각을 중심으로 하여 시청자들이 시청각미디어를 만지고 느낄 수 이는 촉각방송시스템은 전체적으로 촉가미디어의 획득 및 생성하는 단계 다양한 촉각미디어를 한 화면에 편집하고 저작하는 단계, 저작된 콘텐츠를 압축 및 전송하는 단계, 전송된 콘텐츠를 단말장치를 통해 재현하는 단계로 이루어진다. 촉각방송에서 촉각미디어는 시청자가 미디어를 능동적으로 만지고 조작하거나 미디어에서 제공하는 움직임을 따라하거나 촉감을 피부로 느낄 수 있도록 3차원 현상, 조작기능(버튼, 슬라이더, 조이스틱 등), 촉각 표면 특성(딱딱함, 정적 마찰계수, 동적 마찰계수, 거칠기 등), 움직임(위치, 속도, 가속도 등), 촉감 정보 등을 포함한 매체로 정의한다. 제안한 촉각방송 시스템에서는 3차원 객체 만지고 조작하기, 3차원 영상 만지기, 역감 재생, 촉감 재생 등의 네 가지 촉각 상호작용이 가능하며 적용례로써 홈쇼핑, 촉감효과가 가미된 영화, 지휘 교육 시나리오를 제시하였다.

• 제어로봇시스템학회논문지
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• 제11권7호
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• pp.602-608
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• 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.

• 융복합기술연구소 논문집
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• 제2권2호
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• pp.35-39
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• 2012

This paper presents the effect of data-hold methods on stability of haptic system with a virtual wall. When a human operator interacts with virtual wall, the lager the stiffness of the virtual wall is, the more realistic the operator feels that the virtual wall is. However, if the stiffness of the virtual wall becomes extremely large, the system may be unstable. When a virtual wall is designed, it is necessary to analyze the maximum available stiffness to guarantee a stable haptic interaction. The simulation model in this paper is developed based on the haptic device model, sampler, a virtual wall model, and data hold methods to compute the maximum stiffness for stability. The effectiveness of the simulation is evaluated through comparing the results of previous studies with the results of this simulation. In addition, the effects of two data hold methods, that is, zero-order hold (ZOH) and first-order hold (FOH) on the stability are analyzed and the values of the maximum available stiffness are compared through the simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.51.4-51
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• 2002

$\textbullet$ A noval haptic mouse system is developed for human computer interface. $\textbullet$ Five bar mechanism is adapted for 2 dof force feedback with virtual environment. $\textbullet$ Double prismatic joint type mechanism is adapted to reflect 1 dof grabbing force feedback. $\textbullet$ Cable driven mechansim is used for actuation to reduce backlash and endow backdrivability. $\textbullet$ Virtual wall perception experiment is conducted to obtain force specification for haptic mouse. $\textbullet$ Average mouse workspace is measured using magnetic position tracker.

• 인터넷정보학회논문지
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• 제24권6호
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• pp.23-29
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• 2023

가상현실 분야에서는 사용자 경험의 몰입도를 극대화하기 위해 햅틱 피드백을 활용하고 발전시키려는 지속적인 노력이 있었다. 그러나 대부분의 햅틱 피드백은 진동 모터 등 경제성을 고려한 액추에이터를 사용하는 문제로 인해 제한적인 촉각 경험만을 사용자에게 제공할 수 있었다. 복싱과 같은 스포츠 시뮬레이션이나 게임에서의 타격 경험의 경우, 실제 물체를 타격하는 감각과 진동 액추에이터로 렌더링되는 감각 사이의 괴리 때문에 한계가 분명하다. 본 연구에서는 이를 주목하여, 사용자가 손으로 가상의 물체를 타격할 때 가상 임팩트를 생성할 수 있는 햅틱 임팩트 시스템을 제안했다. 햅틱 인터페이스는 퀵 리턴 메커니즘을 사용하여 엔드이펙터가 사용자의 주먹에 햅틱 임팩트 피드백을 직접 전달하고 진동 촉감을 통해서 사용자의 손바닥에 가상 임팩트 감각을 전달할 수 있도록 하였다. 제안된 시스템은 인간 대상 실험을 통해 평가하였으며 실험 결과는 햅틱 임팩트 가상 임팩트의 인지 강도와 사실감에 유의한 영향을 미친다는 것을 나타낸다.

• 제어로봇시스템학회논문지
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• 제8권9호
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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.

• 대한기계학회논문집A
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• 제35권5호
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• pp.459-467
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• 2011

상지 운동기능 장애인의 재활치료에 대한 지속적인 관심과 훈련의 정량적인 평가가 요구되고 있다. 이러한 문제를 해결하기 위해서 햅틱 장치를 개발했다. 피험자가 햅틱 장치의 손잡이를 움직일 때, 가상의 힘을 제시하여 그들의 동작에 대해 어시스트력이나 항력을 제시할 수 있다. 개발한 상지 운동훈련 프로그램과 시스템의 유효성을 검토하기 위해, 5 명의 운동기능 장애인을 대상으로 직선동작 훈련 프로그램을 수행할 때의 손잡이 위치, 수행 속도, 손잡이의 오차 및 상지의 EMG 신호를 측정하였다. 5 명의 피험자의 손잡이의 궤적 및 EMG 활동이 유사함을 보였다. 이러한 결과는 가상 현실의 힘을 손잡이에 제시함으로써 EMG 활동이 증가하였다고 볼 수 있다. 본 실험의 결과, 객관적이며 정량적인 상지 재활치료 시스템의 개발 및 평가 방법이 시사되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.25.4-25
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• 2001

In this paper, a five degree-of-freedom haptic device is proposed. The proposed haptic device has a pen which is suspended by tensioned six strings. Human operator handles the pen. Six DC motors are used as actuators to generate tensions in six strings to make resultant force feedback at the pen to the human operator Six encoders are used for calculating the movement of the pen. A digital controller is used for generate control signals for the suitable tension in the six strings. A current amplifiers is used for amplifying the control signals. Cable-suspended system has advantages of structure simplicity (only with several strings driven by motors without using other tensioning mechanisms), low inertia, and high force-to-weight ratio. Pen-based system has advantages of compactness and ...