• 한국산업정보학회논문지
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• 제17권4호
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• pp.9-15
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• 2012

This paper presents application of a new tactile slippage sensation algorithm in robot hand control system. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. The tactile sensor is mounted on fingertip of robotic hand. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.

• 감성과학
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• 제14권1호
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• pp.127-136
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• 2011

본 연구에서는 견직물의 색채 특성이 촉감각/감성 이미지에 미치는 영향을 고찰하고 견직물의 역학적 성질과 색채 특성을 이용한 촉감각/감성 이미지 예측모델을 제안하고자 하였다. 연구결과로서 무채색과 유채색 견직물 모두 견직물의 역학적 성질이 기본적으로 촉감각/감성 이미지에 영향을 미치는 것으로 나타났다. 반면에 '매끄럽다', '하늘하늘하다', '독특하다', '두껍다', '뻣뻣하다', '전원적이다', '캐주얼하다', '내추럴하다', '모던하다'는 무채색과 유채색에 따라 유의한 차이가 있었다. 특히 '두껍다'와 '뻣뻣하다'는 견직물이 Red 또는 Green 색상일 때, 그리고 pale 또는 vivid 색조일 때 무채색일 때보다 더 강하게 인지되었고, '전원적이다'와 '캐주얼하다'는 Green 색상의 견직물과 pale 또는 vivid 색조의 견직물에서 무채색 견직물에서보다 더 강하게 느껴지는 경향이어서, 견직물의 색채가 주관적 촉감각/감성에 영향을 줄 수 있음을 시사하였다. 마지막으로 역학적 성질과 색채 특성을 함께 설명변수로 이용한 예측모델을 수립하여 제안하였다.

• 한국의류학회지
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• 제24권8호
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• pp.1115-1124
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• 2000

The purpose of this study was 1) to determine physical properties, and subjective evaluation of sensation of sports socks with various type of fiber content and fabric structure, and 2) to develop regression equations for predicting each sensation from physical properties of socks. Thirty healthy male students participated in the wear test with ten replications. The ANOVA, Duncans multiple test, and multiple regression, and paired-t test were used in the statistical analysis, using an SAS package. The results of this study are as follows: 1. 100% cotton socks had higher absorbency and wickability among five different socks. Comfort sensation, tactile sensation and fit sensation of socks were significantly influenced by types of fiber content. People felt that polypropylene socks were less comfortable & slightly tighter, and cotton socks were drier than the other socks. Terry socks were warmer than single jersey socks. 2. The results of the regression analysis showed that tactile sensation of socks after exercise can be predicted from the cube of moisture permeability($R^2$=0.99), and fit sensation can be predicted from drop absorbency, moisture permeability, wickability in wale and weight($R^2$=-0.98).

• 한국멀티미디어학회논문지
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• 제5권6호
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• pp.646-654
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• 2002

인간의 촉각감지 기능은 주위환경에 대한 중요한 정보를 제공하여 준다. 촉각 정보는 우리의 신체와 외부세계와의 접촉에 따른 위치 정보와 물체를 인지하고 조작하기 위한 감각적 정보 뿐 아니라 위험 여부까지 판단할 수 있는 정보를 제공해 준다. 그러나 촉각은 시각과 청각에 비해 상대적으로 덜 중요한 감각으로 인식되어져 왔으나, 가상현실과 컴퓨터 게임에 있어서는 중요한 역할을 수행할 수 있다. 촉각을 통해 플레이어가 가상 세계의 물체에게 직접 영향을 줄 수도 있고 받을 수도 있는 적극적인 인간 감각이기 때문이다. 본 논문에서는 인간의 촉각의 특성을 조사하고 이를 응용하기 위한 힘 감지 센서를 사용한 연구방법을 제시한다. 또한 실제적인 게임적용을 위하여 간단한 힘 모델링과 구조체 형식을 제안한다. 그 결과 센서 출력을 분석하여 힘의 분포, 크기, 중심을 구하고 이 정보를 응용하여 특정부위에 대한 작용, 반작용을 구현 할 수 있다. 본 결과는 컴퓨터 게임과 가상현실에서 촉각 감지와 응용을 위한 기본 자료로 활용될 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2753-2758
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• 2003

Tactile sensation is essential for many manipulation and exploration tasks not only in a real environment but also in a virtual environment. In this paper, we discuss a conceptual design of an integrated tactile display system. The system comprises two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device is implemented using eight piezoelectric bimorphs and a linear actuator, and is attached to a 2 DOF translational force feedback device to simultaneously simulate texture and stiffness of the object.

• 대한간호학회지
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• 제26권1호
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• pp.138-147
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• 1996

Although sensory deficits caused by stroke have been occasionally reported, dysfunctions of discriminative sensation have seldom been studied in patients with strokes. With the use of specifically designed methods, discriminative sensations including texture discrimination and position sense were tested in 67 patients with acute unilateral stroke. Thirty-two age and sex-matched healthy subjects were used as controls. Impaired discriminative sensation was common in patients with unilateral stroke (detected in 57 out of the 67 patients) regardless of the lesion location except for patients with lateral medullary stroke. Proprioceptive discriminative sensation remained intact in all except for three out of 25 patients who were initially diagnosed as having pure motor stroke on the bases of conventional sensory tests. However, tactile discriminative sensation remained intact in only 17 out of 25 patients. Discriminative sensory disturbances are common in patients with unilateral stroke even in those with intact sensory function on routine examination. The subtle disturbances of this sensation may explain, at least in part, the clumsiness of the patients that is not readily explained by conventional neurological tests.

• 한국정밀공학회지
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• 제32권10호
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• pp.845-850
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• 2015

This study was designed to investigate the feasibility of utilizing an adaptation for selective elicitation of tactile sensations by means of transcutaneous electrical stimulation. We conducted the first experiment to investigate how the stimulation frequency affected the adaptation. Twenty healthy subjects participated in the second experiment to confirm our proposal that the perception intensity of the low-frequency vibration can be enhanced after a high-frequency adaptation, and vice versa. It was found that (1) a low-frequency stimulation did not adapt the nerve afferents responsible for the high-frequency vibration, (2) a high-frequency stimulation affected the nerve afferents responsible for the low-frequency vibration, but adapted to the pressure sensation more intensely, and (3) more than 62% of the subjects reported a more clear selective sensation after the adaptation had lessened or depressed the unwanted sensation. The observations showed that adaptation of the nerve afferent could be utilized for selective elicitation of tactile sensations.

• 한국염색가공학회지
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• 제20권6호
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• pp.69-74
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• 2008

In this paper, a comfort evaluation system based on a product-focused process design (PFPD) has been proposed for high comforts interior seat covers. Correlations between comforts properties and physical/thermal properties of interior seat covers were examined by combining traditional regression analysis and data mining techniques. A skin sensorial comfort of leather samples was evaluated by only human tactile sensation. The adjectives of leather car seat covers are 'Soft', 'Sticky' and 'Elastic'. Thermo-physiological comfort properties of leather samples were evaluated by only human tactile sensation. The adjectives of leather car seat covers are 'Coolness to the touch' and 'Thermal and humid'. Skin sensorial comforts of cloth samples were evaluated by only human tactile sensation. The adjectives of cloth car seat covers are 'Soft', 'Smooth', 'Voluminous' and 'Elastic'. Thermo-physiological comforts of cloth samples were evaluated by only human tactile sensation. The adjectives of cloth car seat covers are 'Coolness to the touch' and 'Thermal and humid'.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.971-972
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• 2011

• 한국의류학회지
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• 제28권3_4호
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• pp.452-459
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• 2004

The purpose of this study was to evaluate the effect of reference fabric for the tactile sensation of worsted fabrics. As specimens, 32 worsted fabrics for spring/fall suits were selected. A series of subjective evaluation for roughness, harshness, coarseness, smoothness, warmth, bulkiness and softness were performed with 20 trained panels. The panels were selected by the test of consistency and trained for 3 weeks to enhance the reproducibility and consistency. Subjective evaluation was performed using 9 points Semantic Differential Scales with and without reference fabric. Results showed that the sensations were very similar between the results for the test of with or without reference. However the standard deviations of ratings for the with-reference were much less than that of without-reference which means the use of reference fabric can reduce the subjective error or can reduce the number of panels to test.