Hyoungkyun Kim

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This paper addresses the limitation of the conventional Rao-Blackwellized unscented particle filters. The problem is on the usage of the overconfident optimal proposal distribution caused by perfect map assumption, so that predictive robot poses are sampled from the underestimated error covariance in the particle filtering process. The proposed solution(More)
This paper proposes a contact force decomposition method using tactile information for haptic augmented reality (AR). Haptic AR modulates real haptic interaction to desired interaction by adding virtual haptic feedback. For haptic AR rendering, the measurement of real haptic interaction including deformation and friction force is important for accurate(More)
In this paper, a model of influence of a tumor on the contact pressure for medical palpation training system is proposed. In this model, the contact pressure between a fìnger and a tissue including tumor is obtained from the contact pressures between finger and normal tissue and between normal tissue and tumor. Verification via FEM simulation showed(More)
In this paper, a study of pseudo-haptic perception for consistent pseudo-haptic rendering is presented. A stiffness discrimination experiment was performed with visual, haptic and visuo-haptic (pseudo-haptic) spring. Obtained response were divided into “convinced group” and “doubted group”, which indicates different individual(More)
This paper presents a novel indicator for lump detection that uses only contact pressure distribution, as well as its feasibility evaluation. The conventional lump detection methods are based on a pressure map obtained from contact pressure distributions, but they requires an adequate regulation of the contact condition during measurements. An alternative(More)
In this paper the progress of Finite Element Method(FEM) based simulation of a deformable object in virtual reality is presented. Mass and stiffness matrix for FEM is calculated from meshed object which is generated from surface model for visualization. Deformation of the object is calculated from obtained matrices and external force at each time step and(More)
In this paper, we present a decomposition method of contact force between a haptic interface and an object for haptic augmented reality. The proposed method uses contact pressure distribution as well as force measurement. Thanks to the contact pressure distribution, the proposed method can find the right normal direction regardless of large shear(More)
The O<sub>2</sub> lance manipulator is used in the electric arc furnace (EAF) process to supply oxygen in order to remove impurities in molten metal. However, since it is controlled by the human operator who can get only visual information about the EAF, the collision between the lance and the EAF can happen which must be avoided in the process. The(More)
Many robotics applications involving contact with objects require the decomposition of an external force measured by a force sensor into its normal and shear components. In this paper, we present a general and effective contact force decomposition method based on the contact pressure distribution. The contact pressure distribution can be measured easily(More)
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