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

3

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

6

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

7

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

13

Lim, Kwon(2007)

Tactile Display Device with Vibrotactile FeedbackFeedback

14Yang, 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

Thank you !y

http://robot.kaist.ac.kr

http://haptic.kaist.ac.kr