Research 및 수행과제

  • Deep-Learning 을 활용한 로봇의 Interaction Force 예측(삼성전자 미래육성센터2017-2020)
  • 원격제어시 물리적 입력값을 활용한 시간지연없는 영상 생성 기법 개발(과학기술부-중견연구, 2020~2023)
  • 고유수용성 감각의 측정 및 사용자 힘증강을 위한 Exoskeleton 개발
  • EMG/EEG 신호를 활용한 Interaction force 예측
  • 뇌파 신호에 따른 수면 단계분석


  • 영상 기반의 입력 가능한 digital pen(교육부, 2018-2019)
  • 촉각 센서를 활용한 원격 수술로봇/원격 손 제어 (산업통상자원부, 2017-2020)
  • Proprioception(고유수용성감각) 측정을 위한 장치 설계 및 VR 활용 실험 (보건복지부,국립재활원, 2017)
  • Visual-tactile sensory perception (교육부, 2016-2018)
  • 360도 영상 촬영을 위한 원격 조종로봇 개발(문화체육관광부, 2016)
  • VR 착용감 개선을 위한 얼굴 감각 인지능력 측정(삼성전자, 2016)


  • Haptics in Surgical Robot

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When performing open surgery, surgeons use their touch sense intuitively in combination to get the information. However, during the minimally invasive laparoscopic robotic surgery with the conventional surgical robot, this haptic information can be lost because of the absence of force sensors in robot tools and haptic feedback instrument in master system. Sensors in the slave system and a combine tactile and kinesthetic feedback apparatus in the master system was developed to provide touch sense to surgeon in haptic feedback system of surgical robot. The combined tactile and kinesthetic feedback of the master device in robotic surgery improves the surgeon’s ability to control the interaction force applied to the tissue.

– “Grip force measurement of forceps with fiber Bragg grating sensors”, Electronics Letters, vol 50, no 10, pp.733-735, 2014 (SCI) ※ This paper was selected in the feature section in the front of Electronics Letters (vol 50, no 10)
– “Tactile  Display with Tangential and Normal Skin Displacement for Robot-Assisted Surgery,” Advanced Robotics, vol 28, Issue 13, pp 859-868, 2014
– “Development  of Flexible Three-Axis Tactile Sensor Based on Screen-Printed Carbon Nanotube-Polymer  Composite”, Journal of Micromechanics and Microengineering, vol 24, no 7
– “Role of combined tactile and  kinesthetic feedback in minimally invasive surgery”, International Journal of Medical Robotics and Computer Assisted Surgery, Vol 11, Issue 3, pp 360–374, 2015
– “Three-axis pneumatic tactile display with integrated capacitive sensors for feedback control”, Microsystem Technologies, Volume 22, Issue 2, pp 275-282
– “Position controlled pneumatic tactile display for tangential stimulation of a finger pad”, Sensors and Actuators A: Physical, Volume 229, pp 15–22, 2015


  • SmartWatch Interface

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Touchscreen interaction has become a fundamental means of controlling mobile phones and smartwatches. However, the small form factor of a smartwatch limits the available interactive surface area. To overcome this limitation, we propose the expansion of the touch region of the screen to the back of the user’s hand. We developed a touch module for sensing the touched finger position on the back of the hand using infrared (ir) line image sensors, based on the calibrated ir intensity and the maximum intensity region of an ir array.

– “Expansion of Smartwatch Touch Interface from Touchscreen to Around Device Interface Using Infrared Line Image Sensors”, Sensors, 15(7), pp16642-16653, 2015

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Inspired by the mechanisms of bone conduction transmission, we present a novel sensor and actuation system that enables a smartwatch to securely communicate with a peripheral touch device, such as a smartphone. Our system regards hand structures as a mechanical waveguide that transmits particular signals through mechanical waves. As a signal, we used high-frequency vibrations (18.0–20.0 khz) so that users cannot sense the signals either tactually or audibly. To this end, we adopted a commercial surface transducer, which is originally developed as a bone-conduction actuator, for mechanical signal generation.

– “Transferring Data from Smartwatch to Smartphone through Mechanical Wave Propagation”, Sensors, 15(9), pp 21394-21406, 2015


  • Haptics (Interface)
  • Hip Force Exoskeleton
  • 360도 3D 카메라 촬영을 위한 모바일 로봇
  • VR 활용 3D CAD를 위한 3차원 Interface
  • VR 장치를 위한 얼굴 민감도 측정



  • Haptics (psycho-physical experiment)

Beat perception on the Finger with two pin


Two vibrations with slightly diVerent frequencies induce the beats phenomenon. In tactile perception, when two pins of diVerent frequencies stimulate the Wngertips, an individual perceives a beats caused by a summation stimulus of the two vibrations. The present study demonstrates experimentally that humans can perceive another vibration based on the beats phenomenon when two tactile stimuli with slightly diVerent frequencies are stimulated on the Wnger pad with a small contactor in diVerent locations at the same time. Moreover, we examined the amplitude of the detection threshold to be able to perceive beats phenomenon on the index Wnger with 5 carrier frequency (63.1, 100, 158.5, 251.2, and 398.1 Hz) and 4 beats frequency (2.5, 3.98, 6.31, and 10 Hz) when two stimuli 1 mm distance apart are vibrated at a slightly diVerent frequency. From the experiments, it is concluded that the amplitude threshold to be able to perceive beats decreases as the standard frequency increases under 398 Hz. Furthermore, from comparing the absolute detection threshold and beats detection threshold, as the carrier frequency increases, the required amplitude at two pins for the detection of beats decreases compared to absolute vibration.

– “Effect of Frequency Difference on Sensitivity of Beat Perception.” Experimental Brain Research, vol 216, pp. 11-19, 2012


Tactile Apparent Motion


The effects of the frequency modulation of vibration elements on the representation of dynamic tactile apparent motion between both hands will be proposed. The sensation level difference due to the different frequencies that result when using vibrating motors on the right and left fingers causes a phantom sensation that is perceived as if the stimuli were between the fingers. The change of sensation level difference between both hands due to the frequency modulation creates a somatosensory illusion using this phantom sensation, which occurs in such a way as to feel like a vibration flow from one hand to the other hand.

– “Tactile apparent motion between both hands based on frequency  modulation,” in haptics: perception, devices, mobility, and communication, springer, 2012,  pp.293-300

Shape Perception with frequency modulation

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This study attempted to observe what effects the frequency modulation of vibration elements produce in representing a tactile shape. Tactile shapes were modulated based on frequency difference at constant amplitude through a tactile feedback array of 30 (5 × 6) pins, which stimulated the finger pad.

– “Presentation of Surface Height Profiles Based on Frequency Modulation at Constant Amplitude Using Vibrotactile Elements.” Advanced Robotics, vol 25, Issue 16, pp. 2065-2081, 2011