Since nuclear power plant (NPP) dismantling carries the possibility of radiation exposure from a hazardous environment, it’s important to minimize that by using a remote manipulator et al. However, due to complexity of nuclear facilities, it’s necessary for operators to increase their proficiency by operating in advance in a virtual environment. In this research, we propose a virtual manipulator system using a haptic device for NPP’s reactor vessel internals (RVI) dismantling which can realistically manipulate.

The goal of this study was to develop a haptic communication system that can convey the tactile sensation of fashion materials in a virtual environment. In addition, the effectiveness and how realistically the virtual fabric image of this system delivers the tactile sensation of actual fabric was verified. First, a literature review was conducted through which the tactile attributes of fashion materials were defined that would be implemented in the haptic communication system. Then, a questionnaire for evaluating the tactile attributes of fashion materials was developed. Next, a haptic communication system was designed to convey fashion image experiences in a virtual environment, from which a haptic rendering model was suggested. The effectiveness of the haptic communication system was evaluated by verifying user experiences with questions developed through a user evaluation experiment. The validity of the evaluation questions pertaining to the tactile attributes and the effects of the haptic communication system were verified. Factor analysis was conducted to verify the evaluation of the tactile sense attributes of the fashion material, which identified density, thickness, and elasticity of the material as key factors. As a result of comparisons between the tactile sense through haptic characteristics and through touching, it was observed that regarding density and thickness, tactile sense experience led to greater perceived reality, while this was not the case for elasticity.

This paper presents development of the new haptic device for virtual wall collision test. Mathematical model of the proposed system considering virtual wall collision is developed and tuned by comparing force responses from simulation and experiment with free motion. To verify the effectiveness of the proposed model, a range of collision tests against virtual wall are accomplished, conditioned on different collision speeds to virtual wall. In addition, hybrid PI control scheme is applied to improve the performance of the proposed haptic system in virtual wall collision experiments.

There are half million dentists in the world and 20,000 dentists in Korea. One of the typical operation among dentist is implantation. The 10% of the dentist in U.S.A. and 70% of dentist in Korea conduct implantation. However many problems are occurred in Korea because many dentists in Korea learn this operation skill from private research center rather than authorized institute like U.S.A. This research develops system of implantation education for dentist using Haptic simulation system to solve such a problem. This system improves education effectiveness through experiencing overall operation procedure and eyes, which expect to lead us 4D virtual reality and provide safe method for patient.

시각과 청각으로 표현된 디지털 콘텐츠가 감각표현을 확장하려는 연구가 활발하다. 최근에는 촉각 표현이 가능한 다양한 촉각 표현 시스템이 개발하여 촉감을 표현하는 디지털 콘텐츠 개발하고 있다. 하드웨어에 의한 촉감각 표현시 다른 감각과의 동기화가 중요한 표현 요소로 대두되고 있다. 본 연구는 햅틱(haptic)표현이 다른 감각에 비해 표현 지연 발생할 경우 실감도에 미치는 영향에 관한 것이다. 시각 및 햅틱 지연 시간을 0.5, 1.0, 2.0, 4.0(초)로 설정하여 각 지연에 대한 실감도 평가를 실시하여 선형 회귀 분석하였다. 촉각 지연 보다 시각 지연에서 실감도와 상관성을 보였으며 지연 시간이 길어질수록 실감도가 떨어지는 것을 볼 수 있었다. 그러므로 사용자는 촉감 표현에 대한 지연이 시각 지연 보다 관대한 것으로 사료된다.

This paper proposes a low-cost robotic surgery system composed of a general purpose robotic arm, an interface for daVinci surgical robot tools and a modular haptic controller utilizing smart actuators. The 7 degree of freedom (DOF) haptic controller is suspended in the air using the gravity compensation, and the 3D position and orientation of the controller endpoint is calculated from the joint readings and the forward kinematics of the haptic controller. Then the joint angles for a general purpose robotic arm is calculated using the analytic inverse kinematics so that that the tooltip reaches the target position through a small incision. Finally, the surgical tool wrist joints angles are calculated to make the tooltip correctly face the desired orientation. The suggested system is implemented and validated using the physical UR5e robotic arm.

When using commercialized robot assisted laparoscopic, surgeon has met some problems to depend only on image of the surgical field. To solve it, there were various researches. The previous study showed that it is possible to estimate the operation force on the commercialized instrument inside patient without sensors. To apply the estimated force to a haptic master console for the laparoscopy surgical robot system, the light haptic master console should be designed. This paper suggests the design of lighter master console handle to reduce a weight of the console whose structure can match with the joint and DOF of an instrument. A cable-conduit mechanism is designed to make light structure to perform a delicate manipulation. The cable-conduit mechanism removes the weight and inertia of link caused by haptic actuator and encoder which is separated from handle link of a manipulator.