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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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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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An Authoring/Editing Framework for Haptic Broadcasting: Passive Haptic Interactions using MPEG-4 BIFS

An Authoring/Editing Framework for Haptic Broadcasting: Pass...

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World Haptics Conference

作者： Jongeun Cha Yongwon Seo Yeongmi Kim Jeha Ryu Human-Machine-Computer Interface Laboratory Gwangju Institute of Science and Technology South Korea

In this paper, we propose an authoring/editing framework for haptic broadcasting that provides viewers with passive haptic interactions synchronized with audiovisual media by extending MPEG-4 BIFS (binary format for scenes). Based on this framework, we could conveniently author haptically enhanced broadcast contents and provide them to viewers by streaming via a VOD (video on demand) context. This work will also appear in the demonstration session during the conference

关键词： Haptic interfaces Broadcasting MPEG 4 Standard Layout Streaming media Virtual reality Auditory displays Broadcast technology Graphics Multimedia systems

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A Preliminary Test for Bilateral Teleoperation Using Energy Bounding Algorithm

A Preliminary Test for Bilateral Teleoperation Using Energy ...

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IEEE International Workshop on Robot and human Communication (ROMAN)

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

This paper presents a preliminary test's results for bilateral teleoperation using the energy bounding algorithm that is already proposed for stable haptic interaction control. The preliminary experimental results show that the energy bounding algorithm may generate stable bilateral teleoperation regardless of the amount of constant/variable time delay. The test results are qualitatively compared with the other existing results.

关键词： Testing Delay effects humans Haptic interfaces Master-slave Control systems Orbital robotics Stability Robots Space technology

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A multirate energy bounding algorithm for high fidelity stable haptic interaction control

A multirate energy bounding algorithm for high fidelity stab...

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SICE-ICASE International Joint Conference

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

ISBN: (纸本)9788995003848

This paper presents multirate energy bounding algorithm to provide high fidelity stable haptic interaction. Stable haptic interaction control algorithms such as virtual coupling or time-domain passivity algorithm has been studied by many researchers. For slowly-simulated virtual environments, however, the deterioration of realistic haptic feeling is unavoidable because these algorithms require high update rate. For high fidelity haptic interaction, we propose multirate approach that separates haptic thread and low-level control thread. A haptic thread carries out calculating the virtual environments force at slow rate while low-level control thread executes determining the actuator force by the energy bounding algorithm at high update rate. Experiments using commercial haptic device have been performed to show the efficiency of the proposed algorithm. As a result, we confirmed that the response was stable and displayed stiffness was much increased even though the haptic rendering rate was slow.

关键词： haptic interaction control stability fidelity multirate

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A haptically enhanced broadcasting system

A haptically enhanced broadcasting system

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World Haptics Conference

作者： Jongeun Cha Jeha Ryu Seungjun Kim Byungha Ahn Human-Machine-Computer Interface Laboratory Department of Mechatronics Gwangju Institute of Science and Technology South Korea System Integration Laboratory South Korea

In this paper, we discuss a haptically enhanced broadcasting system. Four stages of a proposed system are briefly analyzed: scene capture, edit, transmission, and display with haptic interaction. In order to show usef... 详细信息

ISBN: (纸本)0769523102

关键词： Haptic interfaces Multimedia communication Layout Internet Web server Digital multimedia broadcasting Multimedia systems TV broadcasting Streaming media computer graphics

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