brief introductions to haptic researches at...
TRANSCRIPT
Brief Introductions to Haptic Researches at TCL
권동수권동수
KAIST 기계공학과 텔레로보틱스 및 제어연구실
http://robot kaist ac krhttp://robot.kaist.ac.krhttp://haptic.kaist.ac.kr
Telerobotics and Control Lab 의 연구분야Telerobotics and Control Lab.의 연구분야
Haptic Interface
Human-Robot
Interaction
Medical Robots Interaction
2
Past Researches (1997 2003)Past Researches (1997-2003)• Telerobotics• Telepresence• Technology • Haptics
• Virtual presence• Telepresence
• 6 DoF Hand Master• Stability Guaranteed Method for Teleoperation
• Basic Research
Virtual presence
• Telesurgery Robot
Stability Guaranteed Method for Teleoperation
• Spine Biopsy Simulator• Medical Robotics
• Surgical Robot for Hip Surgery : Arthrobot
• Human Robot Interface for Disabled• Welfare Robotics
• Bicycle Simulator• Interactive Fishing Game Simulator
• Entertainment Robotics
• Interactive Robot Soccer System• Car Simulator• Voice Interaction with a Robot Bird
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Voice Interaction with a Robot Bird
Current & Future : Research on “H ti f H R b t I t ti ” (2004 )“Haptics for Human-Robot Interaction” (2004-)
• Haptic Feedback for the Interface• Technology• Human Centered H-R Interaction
• Hybrid Haptic Device• Real-time Haptic Volume Rendering
Technology
• Haptic Interface for HRI / HCIReal time Haptic Volume Rendering
• Haptic Mouse and Tactile Display• Thermal Display• Intuitive Interface device with Multimodal Feedback
M di t d I t f
• Intuitive Interface device with Multimodal Feedback
• Micromini Tactile Display• Tactile Display Device with Vibrotactile Feedback
• Laparoscopic Assistant Robot : KaLAR• Medical Robotics
• Mediated Interface• HCI Principles for Interfaces
Laparoscopic Assistant Robot : KaLAR
• Architecture for H-R Interaction
Medical Robotics
• HRI for Service Robot• Human Robot Emotional Interaction• Restaurant Service Robot
• 4-Rotor Flying Object• Entertainment Robotics
Haptic Device ResearchesHaptic Device Researches
6-DOF Hand Master(1997)
Haptic Mouse
(2002-2007)
Teleoperation(~2002)
(2002 2007)
Wearable Vibrotactile Interface with Thermal Feedback (2006~)
HapticsFeedback (2006 )
= Of or relating to the sense of touch
Haptic Mouse
with Thermal Feedbackwith Thermal Feedback
(2003-2007)
Development of 6 DOF Hand MasterDevelopment of 6-DOF Hand MasterWoo, Kwon(1998)
6 DOFParallel mechanismParallel mechanismWork space
20x20x20 cm20x20x20 cm
Maximum Force90N 1 5N m90N, 1.5N.m
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TCL’s Method of Guaranteeing Stability based on Passivity Conceptbased on Passivity Concept
Ryu & Kwon(2001)
A li bl t
( ) ( ) ( ) 0 ,000
≥∀≥+∫ tEdvft
τττ
Applicable to• Nonlinear system• Unknown HumanUnknown Human
Impedance • Widely varying
unknownunknown environment impedance
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Tactile Display Allows to User Feel Contact Force and Texture SimultaneouslyForce and Texture Simultaneously
Kyung, Kwon(2004)
Recent Haptic Researches(2006~)- Haptics for mobile devicesHaptics for mobile devices
Wearable Vibrotactile Interface with Thermal Feedback (2006~)
Miniaturized Tactile Display(2006~)
Touch PlateTouch PlateHaptics for mobile devices
Touch PlateTouch Pin
Touch PlateTouch Pin
Affective Haptics
Tactile Display using Ultra sonic motor(2007~)
Solenoid part
Solenoid part
Affective Haptics (2007~)
Lateral Motion DemonstrationLateral Motion Demonstration
• PZT bimorph & 6x1 pin array: normal stimulation1 DOF l i h i l l i• 1 DOF translation mechanism: lateral motion
• Generation of both normal stimulation (pressure distribution, vibration) and lateral motion (slip/stretch)) ( p )
Texture Display Mouse(KAT I) was Developed for Texture Display for Texture Display
A Pin-Arrayed Tactile DisplayA Pin-Arrayed Tactile Display5x6 pin arrayMaximum normal displacement: 0.7mmGap of pins: 1.1mmExerting pressure: 1.64N/cm2
Bandwidth: 360HzBandwidth: 360Hz
Kyung, Kwon(2005)
Intuitive Interface Device with Multimodal FeedbackFeedbackSqueezable and deformable hand device with active feedback
http://robot.kaist.ac.kr/pages/?mid=rsch_Rubby
that can accept analog inputMalleable Interface with multimodal feedback
Vibrating motor for clickSound grid for squeezing motion
SC. Kim, Kwon(2007)
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Intuitive Interface Device Based on Motion DetectionDetectionMotion Detection By IMU and VisionSound & Haptic Feedback
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Lim, Kwon(2007)
A New Micro Tactile Device Shows the Possibility f B i E b dd d i t H d h ld D ifor Being Embedded into Hand-held Device
Develop new micro actuatorDevelop new micro actuatorMinimize pin’s gap of tactile display to display a realistic p y p ycontinuous surface Miniaturize the tactile display unit and controllerand controller
15/75T.Yang, Kwon(2007)
Tactile Display using Tiny Ultrasonic Motor
•Tactile Display using Tiny Ultrasonic Motor Ti Ult i M t Li tiTiny Ultrasonic Motor : Linear motion
Specification : pins’ gap : 1.5mm pin’s diameter : 0 5mmpin s diameter : 0.5mm
1616 SC. Kim, Kwon(2007)
Tactile Display using Tiny Ultrasonic Motor
•Tactile Display using Tiny Ultrasonic Motor Ti Ult i M t Li tiTiny Ultrasonic Motor : Linear motion
Specification : pins’ gap : 1.5mm pin’s diameter : 0 5mmpin s diameter : 0.5mm
1717 SC. Kim, Kwon(2007)
http://youtube.com/watch?v=CT4WZexTloo
Future Interfaces; Natural & Intuitive InterfaceInterface
Multi- Modal Interface
Affective Interface
Functional Interface
Interface
NOW
18/75
Haptics Technology는 큰Potential을 가진 연구 영역임Potential을 가진 연구 영역임
human-digital device interfaces가멀티모달 (Sound, Vision + Haptic) 정보
Affective haptics
를활용할것임
Natural & intuitive interface
Personal gateway to access information
Mobile Game ConsoleP bl M i l D i ( MP3 Pl )
Personal gateway to access information
Portable Musical Devices (e.g. MP3 Players)UMPC(Ultra Mobile Personal Computer)
PDA(Personal Digital Assistant)
19/75
PDA(Personal Digital Assistant)Mobile Phone
학문적 교류를 통한 Breakthrough !학문적 교류를 통한 Breakthrough !햅틱스(Haptics) 학문적기여
국내햅틱스의발전과확산을도모
다양한연구및교류활동다양한연구및교류활동