• Journal of the Ergonomics Society of Korea
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• v.17 no.1
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• pp.11-22
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• 1998

When grasping a movable object or making an object move, humans feel kinesthetic sense. The kinesthetic sense is the human sense that the human feels in response to the motion acted on him. The objective of the paper is to transform the kinesthetic sense associated with the human arm into the quantified data that are useful from the engineering viewpoint. A 2-dimensional motion generator composed of two linear motors was developed to provide various motion patterns. It can change its stiffness and damping values on the real-time basis by properly regulating the force generated by the linear motors. Based on Taguchi method, the most dominant factors to affect the kinesthetic sense were investigated. Also, a reference function adequate to quantify the kinesthetic sense was found. Based on this function, the effects of changes in stiffness and damping on the kinesthetic sense were investigated. Various tests show that the damping is a more dominant factor than the stiffness in forming the kinesthetic sense.

• Proceedings of the ESK Conference
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• 1997.10a
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• pp.359-365
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• 1997

When grasping a movable object or making an object move, humans feel kinesthetic sense. Kinesthetic sense is the human sense that the human feels in response to the motion acted on the human. The objecive of the paper is tranforming the kinesthetic sense to quantitized data that is useful from the viewpoint of engineering. To provide various motion patterns, 2-dimensional motion generator was built using 2-axis linear motors. Active stiffness and active damping were implemented by means of current control and force feedback techniques. Based on Taguchi method, the most dominant factors to affect kinesthetic sense were investigated. Also, some functions adequate to quantize the kinesthetic sense were found.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.2
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• pp.227-234
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• 2000

The human sensibility caused by the motion of an object grasped by a human operator is defined as kinesthetic sense of arm. Due to nonlinearity and ambiguity of human sense, there is no absolute standard for quantification of kinesthetic sense. In this research, a so-called 2-dimensional arm motion generator is developed to present various mechanical impedance (i.e., stiffness or damping) characteristics to a human arm. The kinesthetic words representing arm kinesthetic sense are selected and then the subject's satisfaction levels on these words for given impedance values are measured and processed by the SD method and factor analysis. In addition, the quantification method using neural network is proposed to take into account the individual difference between the mean sensibility and each subject's sensibility. Through this proposed algorithm, the sensibility of human motion described qualitatively can be converted into engineering data ensuring objectivity, reproducibility, and universality.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 1999.11a
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• pp.97-100
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• 1999

Human feels kinesthetic sense in response to the force acted on him. In order to represent kinesthetic sense, a force is analyzed as mechanical impedance (i.e., stiffness or damping) and implemented by active impedance control. In this research, a 3-dimensional arm motion generator is developed to present various mechanical impedance characteristics to an operator. An introduction of virtual reality provides not only a visual effect in virtual environment but also the change in force synchronized with the visual effect in real time.

• Archives of design research
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• v.19 no.3 s.65
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• pp.143-154
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• 2006

The primary purpose of this study was to investigate the influence of Cognitive Factors (CF) on the Creative Abilities (CAs) in design. We set up a model of Cognitive Design Process (CDP), which consists of four domains: Concepts, Experience, Five Senses (FS), and Thinking Modes (TM). Here, experience is first perceived by the five senses, and then recognized by intelligence. We regard design as a transforming process from concept to experience. For this study, two major Sensory Modalities (Visual and Kinesthetic), four Thinking Modes (Brain Dominance Profile), and four Creative Abilities (Fluency, Flexibility, Originality, and Elaboration) were reviewed. We hypothesized that idea generation is influenced by different Sensory Modalities (Visual Sense vs. Kinesthetic Sense) and Thinking Modes, and that these have a close relationship with the attributes of CAs. Firstly, we have examined the cognitive thinking model in design. Then, we adapted the Test of Creative Abilities of Design Thinking (TCADT) for measuring CAs. We surveyed the CAs under CF in particular. Finally, we have investigated the influences of the different Sensory Modalities (Visual Sense vs. Kinesthetic Sense) on CAs. It was found that a close relationship between Brain Dominance and CAs, and Sensory Modalities (SM) have different influence on these creative abilities. As a result, a tool for the Test of CAs and a framework for creative idea generation with the effective CF will be presented. These provide the basis for a new approach to creative idea generation in Experience Design.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1708-1713
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• 1997

In teleoperation of a manipulator, kinesthetic feedback can take an essential role in the sense that it provides an operator with more realistic information. In this paper, in order to implement the concept of kinesthetic feedback, force mapping algorithms based on screw theory have been presented. In the development of such algorithms, the virtual environment has been modeled usign a spring and dampers, and the forces caused by hitting the joint limits of a conrtolled manipulator were considered. Finally, some experimental results of force mapping algorithm have been presented.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.5
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• pp.451-456
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• 2005

This paper describes three kinds of experiments and analysis of their results related to human tactile sensitivity using an integrated tactile display system. The device can provide vibration, normal pressure and lateral slip/stretch which are important physical quantities to sense texture. We have tried to find out the efficient method of stimulating, limitation of surface discrimination by kinesthetic farce feedback and the effectiveness of the combination of kinesthetic force and tactile feedback. Seven kinds of different stimulating methods were carried out and they are single or combination of the kinesthetic force, normal static pressure, vibration, active/passive shear and moving wave. Both prototype specimen and stimulus using tactile display were provided to all examinees and they were allowed to answer the most similar sample. The experimental results show that static pressure is proper stimulus for the display of micro shape of the surface and vibrating stimulus is more effective for the display of fine surface. And the sensitivities of active touch and passive touch are compared. Since kinesthetic force feedback is appropriate to display shape and stiffness of an object, but roughness display has a limitation of resolution, the concurrent providing methods of kinesthetic and tactile feedback are applied to simulate physical properties during touching an object.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.7
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• pp.160-166
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• 1998

In this research a 2-dimensional motion generator composed of two linear motors was developed. The inertia, damping and/or stiffness characteristics of the motion generator can be changed on the real-time basis by properly regulating the force generated by the linear motors. That is, active impedance is implemented without actual change in the physical structure of the motion generator. Control of the motor force is carried out by controlling the input currents supplied to the linear motors based on the combination of the PI controller and feedforward controller. This motion generator can be used to measure a kinesthetic sense associated with the human arm and thus to develop the products for which the kinesthetic sense is taken into account.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1285-1288
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• 1997

The basic technology of virtual reality can be described as the cognition of the condition change in virtual world by stimulating the visual, auditory, kinesthetic and tactile sensation. Among these, the kinesthetic and tactile sensation is one of the most important things to recognize the interaction. In this paper, it is addressed the haptic device which help the human feel the sense of the operator, and is designed in modular type to expand for five fingers later. the haptic device is driven by tendon and ultrasonic motors located in the wrist part. Each joint is actuated by coupled tendons and adopts more actrator by one than the number of the joints, called 'N+1 type'. The haptic device adopts metamorphic 4-bar linkage structure and the length of linkages, shape and the location of joint displacement sensor are optimized through the analysis.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1692-1695
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• 1997

In this paper, a new control scheme for master-slave control of telerobot is proposed. The porposed method can be classified into unilater master-slave control methods in the aspect of the data flow. But the master arm in the proposed control scheme can deliver operator the similar kinesthetic sense as other bilateral force reflecting master arms do. The principle concept is that the sensed operator's force/torque is used as the reference input for a damping controller type of telerobot controller which track the operators efforts. Master arm and master controller can be implemented in a simple form, and it needs not be driven by actuators, but force sensing capability.