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2011 IEEE World Haptics Conference, WHC 2011

作者： Kang, Jeonggoo Kim, Heewon Lee, Jongsuh Cho, Kwangsu Wang, Semyung Ryu, Jeha Human-Machine-Computer Interface Laboratory Department of Mechatronics GIST Gwangju Korea Republic of Intelligent System Design Laboratory Department of Mechatronics GIST Gwangju Korea Republic of Sungkyunkwan University Seoul Korea Republic of

ISBN: (纸本)9781457702976

This paper presents a preliminary study on a new vibrotactile rendering method which can make smoother directional vibrotactile flows on a thin plate. Both by actuating two piezoelectric actuators sequentially from one side to the opposite side and by controlling amplitude-modulated input excitation frequency from zero to the 1st mode of the resonant frequency of a thin plate, a user can feel a smoother directional vibrotactile flows on his/her palm as he/she touches the surface of the thin plate. Experimental results and a user study show that the proposed vibrotactile flow is smoother than the vibrotactile flow that can be generated by the traditional apparent tactile movement and phantom sensation generation methods. The smooth directional vibrotactile flow may be useful for identifying callers or give directional information in navigation maps in mobile devices. © 2011 IEEE.

关键词： Piezoelectric actuators

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Effects of different haptic modalities on students' understanding of physical phenomena

Effects of different haptic modalities on students' understa...

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World Haptics Conference

作者： Yeongmi Kim Sunyoung Park Hyungon Kim Hyerin Jeong Jeha Ryu Human Machine Computer Interface Laboratory Gwangju Institute of Science and Technology Gwangju South Korea Gwangju Science High School Gwangju South Korea

This paper describes investigation on the effectiveness of the haptic feedback in science education, involving 8th grade middle school students. For that study haptically enhanced presentations of the Coriolis Effect have been created based on MPEG-4 framework allowing creating, transmitting and displaying haptically enhanced multimedia educational contents. A special focus of the work is the comparison of the effect of different modalities - i.e. audiovisual feedback only, audiovisual feedback with tactile feedback and audiovisual feedback with kinesthetic feedback - on the learning. The result showed that multimedia contents including haptic feedback can improve student understanding of the Coriolis Effect better than when only the audiovisual feedback content was provided. However, there was no significant difference between tactile and kinesthetic modalities.

关键词： Haptic interfaces Multimedia communication Education Media Broadcasting Learning systems Visualization

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A force bounding approach for stable haptic interaction

A force bounding approach for stable haptic interaction

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World Haptics Conference

作者： Jong-Phil Kim Sang-yun Baek Jeha Ryu Imaging Media Research Center Korea Institute of Science and Technology Seoul South Korea Human-Machine-Computer Interface Laboratory Gwangju Institute of Science and Technology Gwangju South Korea

Stability is a major requirement in haptic interaction since unstable behavior impairs realism and may injure the human operator. In this paper, we propose a force bounding approach by which a robustly stable haptic interaction is made possible for any (linear, nonlinear, delayed etc.) virtual environments. Based on the passivity condition for sampled-data haptic systems, a necessary and sufficient condition for the force that can be passively displayed is derived. It contains, however, memory effect due to the accumulation of past remaining dissipation. In order to avoid contact oscillations by the memory effect, a simple reset rule is applied. In addition, a braking pulse is combined with the force that is bounded by the proposed approach in order to increase initial contact realism for stiff environments. Experimental results are presented to verify that the proposed approach makes the haptic interaction passive and increases haptic realism.

关键词： Force Haptic interfaces Virtual environment Sufficient conditions Delay effects Actuators humans

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Preliminary study for smoother vibrotactile flow generation on thin plates by using piezoelectric actuators

Preliminary study for smoother vibrotactile flow generation ...

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World Haptics Conference

作者： Jeonggoo Kang Heewon Kim Jongsuh Lee Kwangsu Cho Semyung Wang Jeha Ryu Department of Mechatronics GIST Human-Machine-Computer Interface Laboratory Gwangju South Korea Department of Mechatronics GIST Intelligent System Design Laboratory Gwangju South Korea Sungkyunkwan University Seoul South Korea

This paper presents a preliminary study on a new vibrotactile rendering method which can make smoother directional vibrotactile flows on a thin plate. Both by actuating two piezoelectric actuators sequentially from one side to the opposite side and by controlling amplitude-modulated input excitation frequency from zero to the 1 st mode of the resonant frequency of a thin plate, a user can feel a smoother directional vibrotactile flows on his/her palm as he/she touches the surface of the thin plate. Experimental results and a user study show that the proposed vibrotactile flow is smoother than the vibrotactile flow that can be generated by the traditional apparent tactile movement and phantom sensation generation methods. The smooth directional vibrotactile flow may be useful for identifying callers or give directional information in navigation maps in mobile devices.

关键词： Vibrations Piezoelectric actuators Resonant frequency Rendering (computer graphics) Frequency control Electronic mail

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An energy-bounding approach to rate-mode bilateral teleoperation of remote vehicles in constant time-delayed environments

An energy-bounding approach to rate-mode bilateral teleopera...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Sungjun Park Changhoon Seo Jong-Phil Kim Jeha Ryu Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea Korea Institute of Science and Technology Seoul South Korea Human-Machine-Computer Interface Laboratory Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea

This paper presents an energy-bounding approach to a rate-mode bilateral control of remote vehicles in order to guarantee the system stability in constant time-delayed telecommunication environments. The velocity error between desired and actual remote vehicle velocities is reflected in term of force in order to maintain desired velocities by the operator both during the normal driving in obstacle-free environments and when colliding with a high impedance wall. A rate-mode energy-bounding algorithm is devised for these teleoperation scenarios in order to sensitively feel the velocity difference while keeping interaction stability. Effectiveness of the proposed approach is shown by some experimental results in the simulated constant time-delayed environments for vehicles not only in free space but also in contact motions.

关键词： Vehicles Force Haptic interfaces Delay effects Communication channels Sensitivity Vehicle dynamics

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A Preliminary System Framework for 'SilGam' Book

A Preliminary System Framework for 'SilGam' Book

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International Symposium on Ubiquitous Virtual Reality, ISUVR

作者： Sunyoung Park Junhun Lee Yeongmi Kim Jeha Ryu Human-Machine-Computer Interface Laboratory Department of Mechatronics Gwangju Institute of Science and Technology South Korea

dasiaSil-Gampsila book is a book that can provide readers with realistic or abstract experiences of contents through the virtual or augmented reality technology while he/she reads an analog book. In order to listen to or touch the realistic contents in dasiaSil-Gampsila book, we propose a preliminary system framework of hardware and software systems for dasiaSil-Gampsila Book through which users can haptically interact with virtual contents. In this framework, we define a dasiaSil-Gampsila Book and design a hardware configuration and software architecture. In addition, we present two exemplary scenarios for using this book in science education.

关键词： Books Auditory displays Liquid crystal displays Haptic interfaces Augmented reality Hardware Three dimensional displays Software systems Space technology Educational institutions

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An energy bounding approach for directional transparency in multiple degree-of-freedom haptic interaction

An energy bounding approach for directional transparency in ...

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World Haptics Conference

作者： Jaeha Kim Jong-Phil Kim Changhoon Seo Jeha Ryu Human-Machine-Computer Interface Laboratory Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea

This paper presents an energy bounding approach (EBA) to enhance directional transparency while guaranteeing stability for multiple degree-of-freedom (DOF) haptic interaction. It was observed that the passivity condition for multiple ports may lead to some oscillations in some coordinate directions even though total energy is positive. The passivity condition, therefore, needs to be applied to each orthogonal coordinate. For guaranteeing stability in each orthogonal coordinate, the EBA is applied. For multiple-dof haptic interaction, however, the EBA in each coordinate may cause a problem that the direction of the rendered force vector is distorted. This problem can easily be solved by projecting the direction of the rendered force vector on its original direction. The validity of the proposed algorithm is shown by some experiments.

关键词： Haptic interfaces Virtual environment Stability humans Rendering (computer graphics) Electronic mail Time domain analysis Damping Impedance Frequency

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Stable bilateral teleoperation using the energy-bounding algorithm: Basic idea and feasibility tests

Stable bilateral teleoperation using the energy-bounding alg...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Changhoon Seo Jaeha Kim Jong-Phil Kim Joo Hong Yoon Jeha Ryu Human-Machine-Computer Interface Laboratory Gwangju Institute of Science and Technology Gwangju South Korea Agency for Defence Development Daejeon South Korea

ISBN: (纸本)9781424424948;9781424424955

This paper presents basic idea and feasibility test results of the energy-bounding algorithm (EBA) for bilateral teleoperation. Various test results for free, contact, and abrupt motions show that the EBA can ensure stable bilateral teleoperation for the fairy large constant/variable time delays (2.5 sec for free motion and 300 msec for contact motion). In addition, the EBA with holding previous data strategy can achieve stable teleoperation when some packet drop is occurred during the data transmission.

关键词： Delay effects Haptic interfaces Force Virtual environment Delay Stability analysis Robots

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K-HapticModeler: A haptic modeling scope and basic framewok

K-HapticModeler: A haptic modeling scope and basic framewok

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6th IEEE International Workshop on Haptic, Audio and Visual Environments and Games, HAVE 2007

作者： Seo, Yongwon Lee, Beom-Chan Kim, Yeongmi Kim, Jong-Phil Ryu, Jeha Human-Machine-Computer Interface Lab. Gwangju Institute of Science and Technology Korea Republic of

ISBN: (纸本)9781424415717

Haptics has been studied as a means of providing users with a natural and immersive tactile sensation in real, augmented, and virtual environments in the various areas. However, in spite of the considerable advantages offered by haptic technology, it is still relatively unfamiliar to the general public. One of reasons for this unfamiliarity is the lack of abundant haptic interaction contents, especially in areas that are very close to the general public. Even though there are a few modeling tools for creating haptic contents, addition of haptic data to graphic models or scenes is limited and many haptic modeling processes have to be done mostly manually, which is time consuming and is not intuitive. For this reason, a new, intuitive, comprehensive, and efficient haptic modeling system is needed. This paper tries to define haptic modeling processes and its scopes and proposes a basic framework for a haptic modeling system (K-HapticModeler) that can create and edit haptic contents easily and intuitively for any virtual objects or graphic scenes. ©2007 IEEE.

关键词： Virtual reality

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FEASIBILITY TEST RESULTS OF BILATERAL TELEOPERATION USING THE ENERGY-BOUNDING ALGORITHM

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IFAC Proceedings Volumes 2008年第2期41卷 14096-14096页

作者： Changhoon Seo Jong-Phil Kim Yo-An Lim Joo Hong Yoon Jeha Ryu Human-Machine-Computer Interface Laboratory Department of Mechatronics Gwangju Institute of Science and Technology (GIST) Gwangju Republic of Korea Jong-Phil Kim is now with the Korea Institute of Science and Technology Seoul Republic of Korea Agency for Defense Development Daejeon Republic of Korea

Time delays in communication channels usually make teleoperation systems unstable. To cope with this, we apply the energy-bounding algorithm (EBA) that had been proposed for stable haptic interaction. The EBA restricts the energy generated by the sample and hold operator to consumable energy by the energy-consuming physical damping in the haptic system and some part of human arm to guarantee the passivity condition of whole system. This algorithm always guarantees stable haptic interactions, but compromises the displayable impedance range of the virtual environment. The EBA can be straightforwardly applied for bilateral teleoperation due to the analogy between the haptic simulation system and the teleoperation system. The video shows some feasibility test results of the EBA for bilateral teleoperation. Various test results for free, contact, and abrupt motions show that the EBA can ensure stable bilateral teleoperation for the fairy large amount of constant/variable time delays (2.5 sec (one-way) for free motion and 300 msec (one-way) for contact motion).

关键词： Bilateral Teleoperation Time delay Energy-bounding algorithm

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