• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.238-246
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• 2004

In displaying a virtual wall using a passive haptic device equipped with passive actuators such as electric brakes, unsmooth motion frequently occurs. This undesirable behavior is attributed to time delay due to slowness in the virtual environment update and force approximation due to the inability of a brake to generate torque in arbitrary directions. In this paper a new control scheme called direct control is proposed to achieve smooth display on the wall-following task with a passive haptic device. In direct control, brakes are controlled so that the normal component of a resultant force at the end-effector vanishes, based on the force analysis at the end-effector of the passive haptic device using the passive FME (Force Manipulability Ellipsoid). Various experiments have been conducted to verify the validity of the direct control scheme with a 2-link passive haptic system.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1565-1570
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• 2003

Passive Haptic Devices have more benefit than the active in Stability. But Apart from benefits, it shows poor performance in haptic display. The author proposed the passive FME(Force Manipulability Ellipsoid) which can graphically show force generating ability of a passive haptic device. In this paper, performance indexes for the force approximation and pseudo friction cone are obtained with the passive FME and an optimized planar device with the indexes is proposed. Based on the above theory, experiment is conducted.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.143-149
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• 2013

This paper presents a new miniature haptic display to convey ample haptic information to a user of a handheld interface. There are buttons on interfaces or general electronic devices, but existing buttons provide haptic feedback of only one passive pattern to a user. Because humans perceive tactile and kinesthetic information simultaneously when they handle objects the proposed actuator provides both sensations at once. It is able to generate various levels of kinesthetic sensations when pressing a button under diverse situations. Also, vibrotactile feedback can be delivered for exciting haptic effects with numerous patterns. Its performance was evaluated in accordance with the resistive force by changing the intensity of the input current. Experiments show that the proposed actuator has the ability to provide numerous haptic sensations for more realistic and complex haptic experiences.

• Journal of Biomedical Engineering Research
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• v.29 no.3
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• pp.179-186
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• 2008

This paper presents a portable tele-assessment system designed for remote evaluation of the hypertonic elbow joint of neurologically impaired patients. A patient's upper limb was securely strapped to a portable limb-stretching device which is connected through Internet to a portable haptic device by which a clinician remotely moved the patient's elbow joint and felt the resistance from the patient. Elbow flexion angle and joint torques were measured from both master and slave devices and bilaterally fed back to their counterparts. In order to overcome problems associated with the network latency, two different tele-operation schemes were proposed depending on relative speed of tasks compared to the amount of time delay. For slow movement tasks, the bilateral tele-operation was achieved in real-time by designing control architectures after causality analysis. For fast movement tasks, we used a semi-real-time tele-operation scheme which provided the clinicians with stable and transparent feeling. The tele-assessment system was verified experimentally on patients with stroke. The devices were made portable and low cost, which makes it potentially more accessible to patients in remote areas.

• Journal of the HCI Society of Korea
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• v.1 no.1
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• pp.21-28
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• 2006

Most of the commercialized wearable text input devices are wrist-worn keyboards that have adopted the minimization method of reducing keys. Generally, a drastic key reduction in order to achieve sufficient wearability increases KSPC(Keystrokes per Character), decreases text entry performance, and requires additional effort to learn a new typing method. We are faced with wearability-usability tradeoff problems in designing a good wearable keyboard. To address this problem, we introduced a new keyboard minimization method of reducing key pitch. From a series of empirical studies, we found the potential of a new method which has a keyboard with a 7mm key pitch, good wearability and social acceptance in terms of physical form factors, and allows users to type 15.0WPM in 3 session trials. However, participants point out that a lack of passive haptic feedback in keying action and visual feedback on users' input deteriorate the text entry performance. We have developed the One-key Keyboard that addresses this problem. The traditional desktop keyboard has one key per character, but the One-key Keyboard has only one key ($70mm{\times}35mm$) on which a 10*5 QWERTY key array is printed. The One-key Keyboard detects the position of the fingertip at the time of the keying event and figures out the character entered. We conducted a text entry performance test comprised of 5 sessions. The participants typed 18.9WPM with a 6.7% error rate over all sessions and achieved up to 24.5WPM. From the experiment's results, the One-key Keyboard was evaluated as a potential text input device for wearable computing, balancing wearability, social acceptance, input speed, and learnability.