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모바일 기기를 위한 진동촉각 디스플레이와 선호하는 패턴 생성방법
양기훈(Gi-Hun Yang),진연섭(Yeonsub Jin),강성철(Sungchul Kang) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.8
In this paper, a vibrotactile pad system, T-mobile, is developed to provide vibrotactile cues for hand-held devices. A grooved and slim design is adapted to the back-side plane of the T-mobile, and the contact part consists of 12 vibrotactile panels which can operate independently and separately. To be isolated among vibrotactile actuators, the surface of the cover is divided into several pieces. Each vibrating module consists of a linear resonant actuator, a section of covering surface, and a vibration isolator. In order to provide spatial and directional information, sensory saltation and phantom sensation are applied to the T-mobile. To evaluate the developed device, two experiments were conducted to test whether directional information and spatial information can be successfully displayed by the device. Additionally, in order to find optimal stimulation by sensory saltation, an empirical test was conducted. As a result, spatial and directional information would be useful for displaying intuitive information for hand-held devices with vibrotactile feedback and reasonable near-optimal value for sensory saltation was obtained.
조창현(Changhyun Cho),양기훈(Gi-Hun Yang),최동은(Dong-Eun Choi),강성철(Sungchul Kang) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
This paper proposes a 2-dofs manipulator with gravity compensators which can be utilized at the shoulder joint of a service or humanoid robot. The gravity compensator comprises two 1-dof gravity compensators and a bevel differential. The proposed gravity compensator can be operated in the hemispherical work space as in the shoulder joint of a most service or humanoid robot. It is revealed from analyses of energy that the proposed gravity compensator can perform static balancing completely. Experiments showed that the 2-dofs manipulator can be effectively operated with small motors.
Safe manipulation을 위한 Spring-clutch 개발 및 안전 전략
홍성훈(Seonghun Hong),최동은(Dongeun Choi),양기훈(Gi-Hun Yang),최준호(Junho Choi),강성철(Sungchul Kang),이형철(Hyeongcheol Lee) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
In this study, a novel safe joint mechanism and safety strategy to ensure inherent safety for safe manipulation are presented. The Spring-clutch(SC) is a simple passive mechanism that consists of a spring and cam. When a torque less than a threshold is applied, the SC functions as a rigid joint between the input and the output. However, when the applied torque exceeds the threshold, the SC is released to reduce the collision force. After the applied torque is removed, the SC returns to its original position without additional operations. In addition, a compact joint torque sensor is added to the SC to measure the joint torque, which is used for active compliance control. The SC, however, may not be released depending on the configuration of the manipulator, i.e. singular position. When the manipulator is ill-posed, the applied external torque due to the force becomes zero, which makes the SC fail to work. A safe strategy to ensure safety of the manipulator with the SC is presented.