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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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The Journal of Korea Robotics Society
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Journal DOI :
The Korea Robotics Society
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Volume & Issues
Volume 8, Issue 4 - Nov 2013
Volume 8, Issue 3 - Aug 2013
Volume 8, Issue 2 - May 2013
Volume 8, Issue 1 - Feb 2013
Selecting the target year
Development of a New Miniature Actuator providing both Kinesthetic and Vibrotactile Feedback for Haptic Interface
Pyo, Dongbum ; Ryu, Semin ; Han, Byung-Kil ; Kwon, Dong-Soo ;
The Journal of Korea Robotics Society, volume 8, issue 3, 2013, Pages 143~149
DOI : 10.7746/jkros.2013.8.3.143
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.
A Film-type Vibrotactile Actuator for Hand-held Devices
Kim, Sang-Youn ; Kim, Ki-Baek ; Kim, Jaehwan ; Park, Won-Hyeong ; Kyung, Ki-Uk ;
The Journal of Korea Robotics Society, volume 8, issue 3, 2013, Pages 150~155
DOI : 10.7746/jkros.2013.8.3.150
Vibrotactile actuators for small consumer electronic products, such as mobile devices, have been widely used for conveying haptic sensation to users. One of the most important things in vibrotactile actuators is to be developed in the form of thin actuator which can be easily embedded into mobile devices and to provide vibrotactile signals with wide frequency band to users. Thus, this paper proposes a thin film type haptic actuator with an aim to convey vibrotactile information with high frequency bandwidth to users in mobile devices. To this end, a vibrotactile actuator which creates haptic sensation is designed and constructed based on cellulose acetate material. A cellulose acetate material charged with an electric potential can generate vibration under the AC voltage input. It is found that the motion of the actuator can have concave or convex shape by controlling a polarity of both charged membranes and the actuator performance can be modulated by increasing level of biased electric potential. The experiment clearly shows that the proposed actuator creates enough output force to stimulate human skin with a large frequency bandwidth and to simulate various vibrotactile sensations to users.
Flexible Visuo-haptic Display
Yun, Sungryul ; Park, Suntak ; Park, Bongje ; Park, Seung Koo ; Nam, Saekwang ; Kyung, Ki-Uk ; Prahlad, Harsha ; von Guggenberg, Philip ;
The Journal of Korea Robotics Society, volume 8, issue 3, 2013, Pages 156~163
DOI : 10.7746/jkros.2013.8.3.156
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
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.
Twisted Strings-based Elbow Exoskeleton
Popov, Dmitry ; Lee, Kwang-Hyun ; Gaponov, Igor ; Ryu, Jee-Hwan ;
The Journal of Korea Robotics Society, volume 8, issue 3, 2013, Pages 164~172
DOI : 10.7746/jkros.2013.8.3.164
This paper presents a new concept of a 1-DOF elbow exoskeleton driven by a twisted strings-based actuator. A novel joint actuation mechanism is proposed and its kinematic model is presented along with its experimental evaluation, and guidelines on how to choose the strings suitable for such an exoskeleton are given. We also proposed and experimentally verified a human intention detection method which takes advantage of intrinsic compliance of the mechanism. The study showed that the developed twisted strings-driven elbow exoskeleton is light, compact and have a high payload-to-weight ratio, which suggests that the device can be effectively used in a variety of haptics, teleoperation, and rehabilitation applications.
Six-degree-of-freedom Haptic Rendering using Translational and Generalized Penetration Depth Computation
Li, Yi ; Lee, Youngeun ; Kim, Young J. ;
The Journal of Korea Robotics Society, volume 8, issue 3, 2013, Pages 173~178
DOI : 10.7746/jkros.2013.8.3.173
We present six-degree-of-freedom (6DoF) haptic rendering algorithms using translational (
) and generalized penetration depth (
). Our rendering algorithm can handle any type of object/object haptic interaction using penalty-based response and makes no assumption about the underlying geometry and topology. Moreover, our rendering algorithm can effectively deal with multiple contacts. Our penetration depth algorithms for
are based on a contact-space projection technique combined with iterative, local optimization on the contact-space. We circumvent the local minima problem, imposed by the local optimization, using motion coherence present in the haptic simulation. Our experimental results show that our methods can produce high-fidelity force feedback for general polygonal models consisting of tens of thousands of triangles at near-haptic rates, and are successfully integrated into an off-the-shelf 6DoF haptic device. We also discuss the benefits of using different formulations of penetration depth in the context of 6DoF haptics.
Haptic Interaction with Objects Displayed in a Picture based on Surface Normal Estimation
Kim, Seung-Chan ; Kwon, Dong-Soo ;
The Journal of Korea Robotics Society, volume 8, issue 3, 2013, Pages 179~185
DOI : 10.7746/jkros.2013.8.3.179
In this paper we propose a haptic interaction system that physically represents the underlying geometry of objects displayed in a 2D picture, i.e., a digital image. To obtain the object's geometry displayed in the picture, we estimate the physical transformation between the object plane and the image plane based on homographic information. We then calculate the rotated surface normal vector of the object's face and place it on the corresponding part in the 2D image. The purpose of this setup is to create a force that can be rendered along with the image without distorting the visual information. We evaluated the proposed haptic rendering system using a set of pictures of objects with different orientations. The experimental results show that the participants reliably identified the geometric configuration by touching the object in the picture. We conclude this paper with a set of applications.
Toward Transparent Virtual Coupling for Haptic Interaction during Contact Tasks
Kim, Myungsin ; Lee, Dongjun ;
The Journal of Korea Robotics Society, volume 8, issue 3, 2013, Pages 186~196
DOI : 10.7746/jkros.2013.8.3.186
Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of  is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.
Telepresence Robotic Technology for Individuals with Visual Impairments Through Real-time Haptic Rendering
Park, Chung Hyuk ; Howard, Ayanna M. ;
The Journal of Korea Robotics Society, volume 8, issue 3, 2013, Pages 197~205
DOI : 10.7746/jkros.2013.8.3.197
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.
Haptic Contour Following and Feature Detection with a Contact Location Display
Park, Jaeyoung ; Provancher, William R. ; Johnson, David E. ; Tan, Hong Z. ;
The Journal of Korea Robotics Society, volume 8, issue 3, 2013, Pages 206~216
DOI : 10.7746/jkros.2013.8.3.206
We investigate the role of contact location information on the perception of local features during contour following in a virtual environment. An absolute identification experiment is conducted under force-alone and force-plus-contact-location conditions to investigate the effect of the contact location information. The results show that the participants identify the local features significantly better in terms of higher information transfer for the force-plus-contact-location condition, while no significant difference was found for measures of the efficacy of contour following between the two conditions. Further data analyses indicate that the improved identification of local features with contact location information is due to the improved identification of small surface features.
Effects of Multi-modal Guidance for the Acquisition of Sight Reading Skills: A Case Study with Simple Drum Sequences
Lee, In ; Choi, Seungmoon ;
The Journal of Korea Robotics Society, volume 8, issue 3, 2013, Pages 217~227
DOI : 10.7746/jkros.2013.8.3.217
We introduce a learning system for the sight reading of simple drum sequences. Sight reading is a cognitive-motor skill that requires reading of music symbols and actions of multiple limbs for playing the music. The system provides knowledge of results (KR) pertaining to the learner's performance by color-coding music symbols, and guides the learner by indicating the corresponding action for a given music symbol using additional auditory or vibrotactile cues. To evaluate the effects of KR and guidance cues, three learning methods were experimentally compared: KR only, KR with auditory cues, and KR with vibrotactile cues. The task was to play a random 16-note-long drum sequence displayed on a screen. Thirty university students learned the task using one of the learning methods in a between-subjects design. The experimental results did not show statistically significant differences between the methods in terms of task accuracy and completion time.