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ÀÛ¼ºÀÚ °ü¸®ÀÚ µî·ÏÀÏ 2022-05-31
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Çѱ¹·Îº¿ÇÐȸ ´º½º·¹ÅÍ 3¿ùÈ£ [ 2022. Vol. 1 ]
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< µ¥ÀÌÅÍ ±â¹Ý ÇÝÆ½ ¸ðµ¨¸µ ¹× ·»´õ¸µ(Data-driven Haptic Modeling and Rendering) >
 Æ÷Ç×°ø°ú´ëÇб³ Ãֽ¹® ±³¼ö
  1. °³¿ä
    • º¹ÀâÇÑ ½ÇÁ¦ ¹°Ã¼ÀÇ °Åµ¿À» ´Ù¾çÇÑ ¼¾¼­¸¦ »ç¿ëÇØ ÃøÁ¤ÇÑ ÈÄ ±× ÀÔÃâ·Â °ü°è¸¦ ±â°èÇнÀÀ» »ç¿ëÇÏ¿© ¸ðµ¨¸µÇÔ.
    • ÀÌ ¹æ½ÄÀ» ±âÁ¸ÀÇ ¹°¸® ±â¹Ý ¹æ½Ä°ú ´ëºñÇÏ¿© µ¥ÀÌÅÍ ±â¹Ý ¸ðµ¨¸µÀ̶ó°í ºÎ¸§.
    • ¹°¸® ±â¹Ý ¸ðµ¨¸µ¿¡ ºñÇÏ¿© ÈξÀ ´õ º¹ÀâÇÑ °ü°è¸¦ ³ôÀº Á¤È®µµ¸¦ °¡Áö°í ¸ðµ¨¸µÇÒ ¼ö ÀÖ´Ù´Â ÀåÁ¡ÀÌ ÀÖÀ½.
    • ºñÀ¯ÀûÀ¸·Î “ÇÝÆ½ »çÁø±â(Haptic Camera)”¶ó´Â º°ÄªÀ¸·Îµµ ºÎ¸§.
    • µ¥ÀÌÅÍ ±â¹Ý ¸ðµ¨À» ÄÄÇ»Å͸¦ »ç¿ëÇÏ¿© ½Ç½Ã°£¿¡ °è»êÇÑ ÈÄ, ±× °á°ú¸¦ ÇÝÆ½ ÀåÄ¡¸¦ »ç¿ëÇÏ¿© ½ÇÁ¦/°¡»ó/È¥ÇÕ °ø°£¿¡ ÀçÇöÇÏ´Â °ÍÀ» µ¥ÀÌÅÍ ±â¹Ý ÇÝÆ½ ·»´õ¸µÀ̶ó°í ÁöĪÇÔ.
    • µ¥ÀÌÅÍ ±â¹Ý ¹æ½ÄÀº º¹ÀâÇÑ ½ÇÁ¦ ¹°Ã¼ÀÇ ÇÝÆ½ ¹ÝÀÀÀ» ÀÚµ¿È­µÈ °úÁ¤À» ÅëÇØ¼­ »ç½ÇÀûÀ¸·Î ÀçÇöÇÒ ¼ö ÀÖ´Ù´Â Áß¿äÇÑ ÀåÁ¡À» °¡Áö°í ÀÖÀ½.
  2. ÇöÀç ±â¼ú ¼öÁØ
    • »ç¿ëÀÚ°¡ ÇϳªÀÇ ¼Õ°¡¶ôÀ» »ç¿ëÇØ¼­ ½ÇÁ¦ ¹°Ã¼¸¦ ¸¸Áö´Â °¡Àå °£´ÜÇÑ »óȲÀ» °¡Á¤ÇÏ°í ¿¬±¸°¡ ¸ÕÀú ÁøÇàµÇ¾úÀ½.
    • ´ëÇ¥ÀûÀÎ Àû¿ë ºÐ¾ß´Â º¯Çüü(Deformable Object)·Î½á, ºÎµå·¯¿î ½ºÆùÁö µî ¿Ü·Â¿¡ ÀÇÇÏ¿© ¸ð¾ç°ú ¹ÝÀÀÀÌ º¯ÇÏ´Â ¹°Ã¼ÀÇ °Åµ¿À» À§Ä¡, Èû ¼¾¼­ µîÀ» »ç¿ëÇÏ¿© ÃøÁ¤Çϰí, ÀÔÃâ·Â °ü°è¸¦ ¹æ»çÇü ±âÀú ÇÔ¼ö(Radial Basis Function)À̳ª ·£´ý Æ÷·¹½ºÆ®(Random Forest)¸¦ »ç¿ëÇÏ¿© ÇнÀÇÑ ÈÄ, À̸¦ °è»êÇÏ¿© ÇÝÆ½ ÀåÄ¡¸¦ »ç¿ëÇÏ¿© °¡»óÀ¸·Î ÀçÇöÇÏ¸é ³ôÀº »ç½Ç¼ºÀ» Á¦°øÇÒ ¼ö ÀÖ´Ù. [1, 2, 3]
    • ´Ù¸¥ ´ëÇ¥Àû Àû¿ë ºÐ¾ß´Â Áú°¨À¸·Î½á, ¿Ê°¨ µî ¹Ì¼¼ÇÑ Áú°¨À» °¡Áö´Â Ç¥¸é À§¸¦ ¼Õ°¡¶ôÀ¸·Î ¸¸Áú ¶§ÀÇ ÀÔÃâ·Â ½ÅÈ£¸¦ ÃøÁ¤Çϰí, À̸¦ ¼±Çü ¿¹Ãø ºÎȣȭ(Linear Predictive Coding)³ª Ãø±¤ ÀÔü(Photometric Stereo) µîÀÇ ±â¹ýÀ» »ç¿ëÇÏ¿© ¸ðµ¨¸µÇÏ°í ·»´õ¸µÇÏ¿© °¡»ó Áú°¨À» ½ÇÁ¦ Áú°¨°ú ¸Å¿ì À¯»çÇÏ°Ô Ç¥ÇöÇÒ ¼ö ÀÖ´Ù. [4, 5, 6]
  3. ÇâÈÄ Àü¸Á
    • µ¥ÀÌÅÍ ±â¹Ý ÇÝÆ½ ¸ðµ¨¸µ ¹× ·»´õ¸µÀº »çÁøÀ» ÂïµíÀÌ ½ÇÁ¦ ¹°Ã¼ÀÇ ÇÝÆ½ °Åµ¿À» ¼Õ½±°Ô ÃøÁ¤, ¸ðµ¨¸µ, ÀçÇöÇÒ ¼ö ÀÖ´Â ¹æ¹ýÀ¸·Î½á, ³ôÀº ¹ßÀü °¡´É¼ºÀ» Áö´Ï°í ÀÖ´Ù.
    • À̸¦ À§Çؼ­´Â ¼¾¼­ µî °ü·Ã ÃøÁ¤ ±â¼ú, ±â°èÇнÀ¿¡ ±â¹ÝÇÑ ¸ðµ¨¸µ ±â¼ú, ÀçÇöÀ» À§ÇÑ ÇÝÆ½ ÀåÄ¡ ¹× ÀÀ¿ë ¼ÒÇÁÆ®¿þ¾î ±â¼ú µîÀÇ ¹ßÀüÀÌ ÇÊ¿äÇÏ´Ù.
    • °ü·Ã ±â¼úÀÌ ¼º¼÷µÇ¸é ·Îº¿ ¿ø°ÝÁ¶Á¾, °¡»ó/Áõ°­/È¥ÇÕ Çö½Ç, ¸ÞŸ¹ö½º, µðÁöÅÐ Æ®À© µî ´Ù¾çÇÑ ºÐ¾ß¿¡ Àû¿ëµÉ ¼ö ÀÖÀ» °ÍÀ¸·Î ¿¹»óµÈ´Ù.
  4. Âü°í ¹®Çå
    • [1] R. Höver, G. Kósa, G. Székely, and M. Harders, “Data-Driven Haptic Rendering–From Viscous Fluids to Viscoelastic Solids,” IEEE Transactions on Haptics, vol. 2, no. 1, pp. 15-27, 2009.
    • [2] S. Yim, S. Jeon, and S. Choi, “Data-Driven Haptic Modeling and Rendering of Viscoelastic and Frictional Responses of Deformable Objects,” IEEE Transactions on Haptics, vol. 9, no. 4, pp. 548-559, 2016.
    • [3] Bhardwaj, H. Cha, and S. Choi, “Data-Driven Haptic Modeling of Normal Interactions on Viscoelastic Deformable Objects Using a Random Forest,” IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1379-1386, 2019.
    • [4] H. Culbertson, J. Unwin, and K. J. Kuchenbecker, “Modeling and Rendering Realistic Textures from Unconstrained Tool-Surface Interactions,” IEEE Transactions on Haptics, vol. 7, no. 3, pp. 381-393, 2014.
    • [5] S. Shin and S. Choi, “Hybrid Framework for Haptic Texture Modeling and Rendering,” IEEE Access, vol. 8, pp. 149825–149840, 2020.
    • [6] W. Hassan, A. Abdulali, and S. Jeon, “Authoring New Haptic Textures Based on Interpolation of Real Textures in Affective Space,” IEEE Transactions on Industrial Electronics, vol. 67, no. 1, 2020.
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