• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.284-289
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• 1995

This paper presents a haptic display of a cooperative work between the networked multiple users. Excluding the possibility of large timedelay among the users, it is presented the way of configuring individual haptic display systems including the computation of interaction forces, joint driving forces of haptic devices and simulation of the virtual objects. A haptic display system is developed consisting of two haptic display devices operated by two remote users and experimental results to show the validity of the proposed method are also presented.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.65-71
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• 2008

This paper proposes a structure of haptic collaboration system over high resolution tiled-display, and proposes a QoE (quality of experience) increase scheme in integrated system. Both haptic system and tiled-display system have requirements of computational power. A haptic device is unstable if haptic rendering rate is less than 1kHz, A requirement of tiled-display systeme is frame rate of display. It requires update of 30 frame fer sec. If we use these systems independently, we can satisfy each requirements. However, if we integrate two systems, performance of entire system significantly decreases because of lack of resources, and QoE of users also decrease. In this paper, therefore, we propose a QoE guaranty scheme which selectively allocates cpu resource between display update and haptic rendering. In order to increase QoE, we set a priority for visual and haptic in order to allocate more resource on visual or haptic. If a user sensitive about touch, then proposed scheme increases haptic rendering rate by allocating more resource. Otherwise a user more sensitive about visual than haptic, proposed scheme decreases haptic rendering rate and increases tiled-display update rate. Therefore, by selectively allocating limited cpu resource, proposed scheme guaranties QoE of both haptic and visual.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.9
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• pp.1344-1351
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• 2004

This study develops a haptic display model which is an indispensable for the force generation in the virtual environment. In developing the haptic display model, a Proxy concept and a Karnopp friction model are utilized to generate the reaction force and the friction force. Also this study develops a 2 D.O.F. remote wiping system. This system is composed of a 2 D.O.F. master manipulator, a force sensor equipped 2 D.O.F. slave manipulator and a real time controller. With the developed remote wiping system, this study identifies the friction characteristic of the aluminum, acryl and rubber plate. The results are used as the dynamic friction coefficient of the haptic display model. This study shows the efficiency of the developed haptic display model by the comparison between the friction characteristic of the haptic display with the developed haptic display model and the friction characteristic of the real aluminum, acryl and rubber plate.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1093-1097
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• 2004

We propose 'the haptic primitive' for haptic rendering without the need to solve complicated parametric equations. To develop 'the haptic primitive', we adopted "the God-Object Method" as a haptic rendering algorithm and applied 'Constructive Solid Geometry' to manage haptic objects. Besides being used in the 'ghost library' of $PHANToMTM^{TM}$ our method can be used as a basic component for developing tools and libraries that aim to simplify haptic modeling. It can also be applied to tactile display modules and temporal display modules. Ultimately it can be developed into a one-stop haptic modeling tool that enables the user to more conveniently create a tangible CAD systems or a tangible e-ommerce system.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.572-578
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• 2009

This paper introduce a structure of haptic collaboration system over high resolution tiled-display, and proposes a object based efficient display method for high resolution display in integrated system. in addition, a modeling of visualization system is defined to evaluate performance of the proposed method. Both haptic system and tiled-display system have requirements of computational power. A haptic device is unstable if haptic rendering rate is less than 1kHz. A requirement of tiled-display systems is frame rate of display. It requires update of 30 frame fer sec. If we use these systems independently, we can satisfy each requirements. However, if we integrate two systems, performance of entire system significantly decreases because of lack of resources. In this paper, therefore, we propose a segmentation-based display method for ultra high resolution display in integrated system. The proposed method reduces redundancy of display data by reducing a display rate of static objects. Finally, a modeling of visualization system is defined to evaluate performance of the proposed method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.7
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• pp.1279-1284
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• 2008

In this paper, utilizing a haptic display for 3D modeling practice is proposed. A haptic display called PHANTOM Omni providing 3D position as well as touch feeling is used to investigate how effectively the proposed practice works compared to the conventional ones for 3D modeling. Experimental results showed the proposed practice can provide positive effect for 3D modeling: improving the task completion time and lowering task workload, thus increasing the usability.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.5 s.98
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• pp.112-123
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• 1999

Virtual reality is becoming a powerful tool for various applications such as training, entertainment, surgery, tele-robotics etc. One potential use for virtual reality is to allow several users to interact in a single virtual environment, for example several students sitting in front of different computers connected over a network. In this paper, we present a loosely coupled architecture of haptic display in the multi-user virtual world. The method of controlling haptic devices as well as the way of configuring individual haptic display system are addressed. We will develop an experimental virtual reality system for two remote users and conclude with an experimental work for the task of a multi-player ping-pong and grasping of a common object.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.992-995
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• 2003

A haptic device operated by the user's hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. For realistic haptic display, the detailed information on collision between objects is necessary. In the past, the point-based graphic environment has been used in which the end effector of a haptic device was represented as a point and the interaction of this point with the virtual environment was investigated. In this paper, the shape-based graphic environment is proposed in which the interaction of the shape with the environment is considered to analyze collision or contact more accurately. To this end. the so-called Gilbert-Johnson-Keerthi (GJK) algorithm is adopted to compute collision points and collision instants between two shapes in the 3-D space. The 5- DOF haptic hand controller is used with the GJK algorithm to demonstrate a peg-in-hole operation in the virtual environment in conjunction with a haptic device. It is shown from various experiments that the shape-based representation with the GJK algorithm can provide more realistic haptic display for peg-in-hole operations.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.6
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• pp.1-10
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• 2004

A haptic rendering system is proposed for a puncture task of a virtual vertebra model. To build a mesh model from medical images, Delaunay triangulation is applied and physical models are based on elasticity theory. Also, a redundant actuated 6 DOF parallel type haptic device is designed to display large force and to resolve the singularity problem of parallel type mechanisms. Haptic feeling of puncture task and the performance of the proposed haptic device are tested by two puncture task experiments.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.2-8
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• 2002

This paper discusses haptic display for grasping a virtual object by two fingers. Much research has been done on fundamental analysis for stability of haptic display. But it is difficult to apply the results immediately to grasping situations by two fingers, since the studies usually deal with a single device and a single object and the fingertip force in grasping situations has two components, internal and external components. The conventional methods, which specify the coupling impedance at each contact point separately, have no other alternative but to specify the impedance for the sum of the internal and external components. So even if only the impedance for the external force should be changed, the impedance for the internal force is also changed at the same time. In this paper, a new method, in which the coupling impedance is specified separately for the internal and external forces, is proposed and the stability of the proposed method is discussed using passivity analysis for 1 -DOF(Degree-Of-Freedom) system. Finally, some experiments are performed to study the effects of the proposed method.