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마찰을 고려한 탄성변형 환경과 접촉하는 가상도구의 조작감 제시
최혁렬,이승룡,류성무,Choi, Hyoukryeol,Lee, Seungryong,Ryew, Sungmoo 대한기계학회 1998 大韓機械學會論文集A Vol.22 No.4
This paper presents a haptic rendering algorithm in the case that the virtual environment elastically deforms in response to the force applied by a user with a virtual tool. Considering friction, elasticity, multiple contacts and dynamics of the virtual object, this algorithm lets the operator have the feel of interactions in the virtual environment as close as to the reality. Based on the proposed algorithm several experiments are conducted and its effectiveness is confirmed.
최혁렬 成均館大學校 科學技術硏究所 1996 論文集 Vol.47 No.1
Based on the virtual stiffness model, the stiffness of a grasped object is characterized. Differing from the previous investigations, the effect of grasp force on the stiffness of a grasp is formulated in terms of additional stiffness, which is called additional stiffness in this paper, and it is addressed how this term affects the stability of a grasp. In addition, a method of controlling the stiffness of a grasp is proposed and validated by experiments using a two-fingered robot hand.
An Enhanced Edge Tracking Method Using a Low Resolution Tactile Sensor
최혁렬,Tri Cong Phung,인용석,구자춘 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.2
Edge detection plays an important role in object recognition and exploration. In this paper, we propose an efficient tracking algorithm, which uses a coarse resolution tactile sensor set, for edge detection of a 2D shape object. Although many researchers have often used a tactile sensor with high resolution such as a 10x10 or higher for edge detection, in this research, we use a 2x2 tactile sensor to track the edges of an object. Using this type of low resolution sensor, we can reduce the manufacturing cost of the sensor and simplify the calculation and control process. In our algorithm, we only need to control the sensor to make it move along the vertical axis, Oy, or the horizontal axis, Ox. The sensor is moved along a suitable direction according to the sensing signals receiving from it. A set of simulations for both convex and concave shapes has been done to verify the algorithm. In addition, methods to increase the accuracy of the algorithm are also discussed.
Profile-based Roughness Discrimination with Pen-type Texture Sensor
최혁렬,최병준,강성철,Xianming Ye 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.4
Tactile discriminations of surface roughness using artificial sensors have been challenging. The modeling methods and parameters that have been using to describe the mechanical properties of rough surface are insufficient for haptic roughness. This paper proposes a method to characterize sur-face roughness based on the profiles of the surface. A compact handheld pen-type texture sensor with a right probe is developed for the measurement of surface profiles. Based on the contact force and the motion of the senor, profiles in the paths of scanning are estimated. The height variations of a profile are converted to a series of tactile stimuli to represent the contact stimulations in haptic explorations. The mean and the standard deviation of the amplitudes of stimuli are identified as haptic features that indicate the required tangential force to slide on the rough surface and how rough the surface is, respectively. Experiments show that the roughness on four kinds of sandpapers can be clearly distin-guished by the proposed discrimination method.