Dong-Soo Kwon

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A new bilateral control scheme is proposed to ensure stable teleoperation under a wide variety of environments and operating speeds. System stability is analyzed in terms of the time-domain definition of passivity. A previously proposed energy-based method is extended to a 2-port network, and the issues in implementing the "passivity observer" and(More)
Tangible user interfaces are portals to digital information. In the future, securing access to such material will be an important concern. This paper describes the design, implementation and evaluation of a PIN entry system based on audio or haptic cues that is suitable for integration into such physical systems. The current implementation links movements(More)
A new interfacing method is presented to control mobile robot(s) in a supervised manner. Mobile robots often provide global position information to an operator. This research describes a method whereby the operator controls a mobile robot(s) using his finger or stylus via a touchpad or touchscreen interface. Using a mapping between the robot’s operational(More)
Authentication through passwords in public spaces (such as in ATMs) is susceptible to simple observation attacks, such as shoulder surfing, which can result in the password being compromised and ultimately the exposure of users to fraud and theft. Haptic technology, which can present information non-visually to users, offers a potential solution to this(More)
A general framework for expanding the time-domain passivity control approach [12], [24] to large classes of control systems is proposed. We show that large classes of control systems can be described from a network point of view. Based on the network presentation, the large classes of control systems are analyzed in a unified framework. In this unified(More)
Haptic and audio cues now appear commonly in computer interfaces, partially due to inherent advantages such as their support for eyes-free interaction. Their invisible, unobservable nature also makes them ideal candidates for security interfaces in which users have to enter secret information such as passwords. In particular, researchers have explored this(More)
Interactions between humans and service robots are more natural when emotions can be synthesized in those robots. Cognitive appraisal theory of emotions provides a theoretical basis for designing artificial emotion generation systems for robots. Computational algorithms to implement the cognitive appraisal theory were proposed in this research. The(More)
In recent years, several surgical or assistant robots have made a successful debut to surgical theatre. Due to their large size, and high price, there is a growing need for the miniaturization of these surgical robots. In this paper, a design methodology for a compact surgical robot is presented. Considering workspace and force requirements, a simulation(More)
Single-port surgery is a new surgical method performed by inserting several surgical tools and a laparoscope through an umbilical incision. Compared with conventional laparoscopic surgery, the smaller incision in this procedure produces a lower amount of trauma, which leads to shorter hospitalization. However, with the current laparoscopic tools and(More)
Although people usually contact a surface with some area rather than a point, most haptic devices allow a user to interact with a virtual object at one point at a time and likewise most haptic rendering algorithms deal with such situations only. In a palpation procedure, medical doctors push and rub the organ’s surface, and are provided the sensation of(More)