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Electrostatic Resonance 초박형 햅틱 액추에이터 어레이 개발
양태헌 한국교통대학교 2021 한국교통대학교 논문집 Vol.56 No.-
Vibrotactile feedback is a key feature of modern touch displays, greatly improving the user's operability and immersion when interacting with the on-screen interface. In this study, we intend to propose a vibrotactile actuator suitable for mounting on the back of a medium or large display because it can generate strong vibration output by applying an electrostatic force-based mechanism and can be manufactured in a thin flat panel type. The proposed actuator has been developed in a structure that can amplify the vibration force by alternating the electrically grounded mass with electrostatic force by the upper and lower electrodes spaced apart from the radial plate spring. As a result of the performance evaluation, the developed bar-type module with two built-in actuators showed excellent vibration output of up to 14 g at 135 Hz, confirming the possibility of providing haptic feedback in medium and large-sized touch displays.
양태헌 한국교통대학교 2020 한국교통대학교 논문집 Vol.55 No.-
This paper presents a new miniature integrated haptic device consisting of a cutaneous, a thermal and a kinaesthetic module. To convey realistic tactile sensation in compact size, the cutaneous module is designed to contain a 3x3 miniature pin-array tactile device and amplitude-modulated vibration generator. The pin-array mimics from small-scale shape to rough surface, and the amplitude-modulated vibration replicates continuous texture feeling of the virtual object. The vibration generator is fabricated using a stack multilayer piezo actuator and a flexure structure. To further enhance the sense of reality, the thermal module including a peltier element and a cooling jacket is integrated to the cutaneous module. In addition to tactile information, the kinesthetic information is equally important in perceiving objects. Thus, two kinaesthetic actuators operated by MR fluids are inserted to the whole device by supporting the cutaneous module and the thermal module. Therefore, when users explore over virtual environments, they can simultaneously feel a cutaneous, a thermal and a kinaesthetic sensation by using the developed compact integrated haptic device.
양태헌 韓國交通大學校 2022 한국교통대학교 논문집 Vol.57 No.-
The goal of this study is to develop a small and economical pulsation simulator that can generate various radial artery pressure waveforms. For this, many pulse waveforms were collected from the subjects using a robotic pulse pressure measurement system, and standard pulse waveforms of the subjects were defined from the data collected using a mathematical model. This standard pulse waveform was used to design and fabricate the cam profile. Using the fabricated cam, a pneumatic pulse waveform generating system based on DC motor and cam-follower mechanism was developed. The developed pulsation simulator was developed to include a mechanism to control the magnitude of the pulse pressure and heart rate, and a real-time pulse display. To verify the performance of the developed pulsation simulator, a series of tests were performed on the waveform generated by the pulsation simulator while varying the pressure level and heart rate using a robotic pulse pressure measurement system. As a result of the radial augmentation index (AI) and phase analysis between the human standard pulse waveform and the waveform generated by the simulator, it was confirmed that the error ratio was small enough that the proposed simulator can generate a human pulse waveform.
요골동맥 혈압파형 재현을 위한 의료로봇 시뮬레이터 개발
양태헌 한국교통대학교 2019 한국교통대학교 논문집 Vol.54 No.-
Radial pulsation waveforms in human is a surrogate maker of estimating the central versus arterial pressure waveforms that are clinically essential for predicting cardiovascular disease. Due to technical limitations, the ability to transfer between central and radial pressures has not been reliably proven. Therefore, to verify the mathematical function between the central pressure and the radial pressure, we developed a prototype radial pulsation simulator that mimics the real human cardiovascular system. The proposed simulator consists of a ventricle, an atrium, arteries and precision sensing equipment. When viscous fluid is injected into the ventricles, the resulting forward wave encounters a unique fluid at the branch of the artery. The reflected wave from the branch propagated backwards, increasing the pressure. The resulting central pressure waveform with extended shoulders was delivered to the radial and ulnar arteries. As a result of the experiments, the developed radial pulsation simulator can now produce radial pressure waveforms like humans. The results suggest that the developed simulator is likely to generate several pressure waveforms representing cardiovascular disease, and that the proposed simulator can be applied to verify the generalized transfer function between the central and radial pressure waveforms.
양태헌 한국교통대학교 2018 한국교통대학교 논문집 Vol.53 No.-
Recently, the rapid development of smart device technology has been combined with the smart car and the robotic kiosk area, and the button panel of the automobile has been replaced with the large-area touch LCD panel. In order to prevent the driver from concentrating on the operation when touching with the click and drag, a technique for providing haptic feedback by vibration is required. In this paper, we introduce electrostatic resonant actuator, which is thinly mounted on the back of a large-area LCD and developed to transmit strong vibration feedback to the touching surface. The developed actuator is designed to generate beat oscillations using electrical interference between two isolated electrodes to provide vibration feedback over a wide frequency range. As a result of the performance evaluation, it was confirmed that it can generate a high vibration power of 5 g or more in a state including about 250 g of the base housing. This means that the developed haptic actuator can provide sufficiently strong vibration feedback on the touching surface even when mounted on the back of a large area LCD.