Abstract:
Disclosed herein are human interaction systems using kinesthetic feedback and an operating method thereof. Each of the human interaction systems includes a driver driving the human interaction system according to handling of a user and generating kinesthetic feedback; a sensor measuring force, physical quantity and path applied by the driver; a converter converting a motion signal of the driver, measured by the sensor, into an electric signal in order to transmit and receive the motion signal; and a communication module transmitting and receiving the electric signal. Accordingly, a user can deliver kinesthetic feedback corresponding to his/her motion as well as voices to the other person through a mobile terminal. Accordingly, the user can deliver various feelings in addition to voices. Furthermore, the user can deliver his/her intention to the other person in a conference where the user is restrained from speaking. Moreover, the user can enjoy more realistic games through kinesthetic feedback when performing interaction games through the mobile terminal.

Description:
BACKGROUND OF THE INVENTION 
       [0001]    1. Field of the Invention 
         [0002]    The present invention relates to human interaction systems using kinesthetic feedback and an operating method thereof, and more particularly, to human interaction systems using kinesthetic feedback and an operating method thereof for allowing users of at least two human interaction systems to deliver/receive kinesthetic feedbacks corresponding to their operations to/from each other. 
         [0003]    2. Background of the Related Art 
         [0004]    Recently, a mobile terminal used for mobile communication or a portable device such as a PMP, a PDP and a navigation system has been widely used. The mobile terminal has a basic function of telephone call or scheduling. However, the utilization range of the mobile terminal becomes wider to reach capturing images through a digital camera attached to the mobile terminal, watching satellite broadcasting and playing mobile games. 
         [0005]    Furthermore, devices and methods that attach a motion sensor to a mobile terminal and handle the motion and tilting of the mobile terminal to operate the mobile terminal without depending only on a keypad composed of buttons or a touch screen are widely spread. 
         [0006]    However, the conventional devices generate only vibratactile feedback corresponding to their motions, such as vibrations generated at a liquid crystal display panel or a keypad. Further, the motion or tilting of the mobile terminal also generates only feedback corresponding to a reaction to the motion or tilting. This limited feedback cannot allow a person to deliver his/her intension to the other person or the two persons to respond to each other. 
       SUMMARY OF THE INVENTION 
       [0007]    Accordingly, the present invention has been made in view of the above-mentioned problems occurring in the prior art, and it is a primary object of the present invention to provide human interaction systems using kinesthetic feedback and an operating method thereof for allowing users of at least two human interaction systems to deliver/receive kinesthetic feedbacks corresponding to their operations to/from each other. 
         [0008]    To accomplish the above object of the present invention, according to the present invention, there is provided human interaction systems using kinesthetic feedback, which are connected to each other through communication, each human interaction system including a driver driving the human interaction system according to handling of a user and generating kinesthetic feedback; a sensor measuring force, physical quantity and path applied by the driver; 
         [0009]    a converter converting a motion signal of the driver, measured by the sensor, into an electric signal in order to transmit and receive the motion signal; and a communication module transmitting and receiving the electric signal. 
         [0010]    The human interaction systems may use folder type mobile terminals, slide type mobile terminals, or flexible displays. 
         [0011]    The driver may use a DC motor, a linear motor or an SMA and include a brake, such as a magnetic particle brake, a linear brake or a shape memory alloy (SMA), for restricting motions of the human interaction systems. 
         [0012]    The converter  500  includes an encoder encoding motion information measured by the sensor into an electric signal; and a decoder decoding an electric signal received through the communication module. The encoder may correspond to a linear encoder. 
         [0013]    According to another aspect of the present invention, there is provided a method of operating first and second human interaction systems connected to each other through communication, which includes a first step in which a user  10  applies a force to the first human interaction system to handle the first human interaction system; a second step in which a sensor included in the first human interaction system measures the motion magnitude and path of the first human interaction system; a third step of converting a motion signal of the first human interaction system, measured by the sensor, into an electric signal; a fourth step of transmitting the electric signal to the second human interaction system; a fifth step of converting the electric signal received by the second human interaction system into a motion signal; and a sixth step of making the second human interaction system move by the same magnitude and path as those of the motion of the first human interaction system. 
         [0014]    The first through sixth steps may be performed by a DC motor, a linear motor or an SMA. 
         [0015]    The method may further include a seventh step of transmitting kinesthetic feedback corresponding to a force caused by an obstacle or an external force to the first human interaction system when the second human interaction system is obstructed by the obstacle or the external force is applied to the second human interaction system. 
         [0016]    The seventh step includes a first step of applying the external force having magnitude different from that of the motion of the first human interaction system  100  to the second interaction device; a second step in which a sensor included in the second human interaction system measures motion information corresponding to the external force; a third step of converting the motion information into an electric signal; a fourth step of transmitting the electric signal from the second human interaction system to the first human interaction system; a fifth step of converting the electric signal received by the first human interaction system into a motion signal; and a sixth step of providing kinesthetic feedback corresponding to the motion signal to the user. 
         [0017]    The fifth step may include a step of comparing the motion signal received from the second human interaction system with a motion signal generated by the user and moving the first and second human interaction systems to a predetermined position. 
         [0018]    There may be two, three or four human interaction systems. Two or more human interaction systems can be broadcasted via a network. 
         [0019]    According to the present invention, a user can deliver kinesthetic feedback corresponding to his/her motion as well as voices to the other person through a mobile terminal. Accordingly, the user can deliver various feelings in addition to voices. Furthermore, the user can deliver his/her intention to the other person in a conference where the user is restrained from speaking. Moreover, the user can enjoy more realistic games through kinesthetic feedback when performing interaction games through the mobile terminal. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0020]    The above and other objects, features and advantages of the present invention will be apparent from the following detailed description of the preferred embodiments of the invention in conjunction with the accompanying drawings, in which: 
           [0021]      FIG. 1  is a block diagram of human interaction systems using kinesthetic feedback according to the present invention; 
           [0022]      FIG. 2  is a perspective view of human interaction systems using kinesthetic feedback according to a first embodiment of the present invention; 
           [0023]      FIG. 3  is a perspective view of human interaction systems using kinesthetic feedback according to a second embodiment of the present invention; 
           [0024]      FIG. 4  is a front view of human interaction systems using kinesthetic feedback according to a third embodiment of the present invention; 
           [0025]      FIG. 5  is a flowchart showing a method of operating the human interaction systems using kinesthetic feedback according to the present invention; 
           [0026]      FIG. 6  shows mechanical motions of the human interaction systems using kinesthetic feedback according to the present invention; 
           [0027]      FIGS. 7   a  and  7   b  show examples of using the human interaction systems using kinesthetic feedback according to the first embodiment of the present invention; 
           [0028]      FIGS. 8   a  and  8   b  show examples of using the human interaction systems using kinesthetic feedback according to the second embodiment of the present invention; and 
           [0029]      FIGS. 9   a  to  9   c  show examples of using the human interaction systems using kinesthetic feedback according to the third embodiment of the present invention. 
       
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
       [0030]    Hereinafter, the present invention will be described in detail by explaining preferred embodiments of the invention with reference to the attached drawings. 
         [0031]      FIG. 1  is a block diagram of human interaction systems using kinesthetic feedback according to the present invention. 
       First Embodiment 
       [0032]      FIG. 2  is a perspective view of human interaction systems using kinesthetic feedback according to a first embodiment of the present invention. Referring to  FIG. 2 , the interaction systems using kinesthetic feedback according to the first embodiment of the invention use folder type mobile terminals  110  and  210 . For convenience of explanation, a mobile terminal initially operated by a user is referred to as a first terminal  110  and a mobile terminal that responds to the first terminal  110  is referred to as a second terminal  210  hereinafter. 
         [0033]    Referring to  FIG. 1 , the first and second terminals  110  and  210  respectively include a driver  300 , a sensor  400 , a converter  500  and a communication module  600 . Here, the driver  300  operates the second terminal  210  such that the second terminal  210  responds to the first terminal  110  or delivers kinesthetic feedback corresponding to a motion of the second terminal  210  to the user through the first terminal  110 . Any driving device can be used as the driver  300  if it can perform the aforementioned operation. Preferably, a motor for rotating folders of the first and second terminals  110  and  210  is used as the driver  300 . More preferably, a DC motor is used. Further, a brake for restricting the operation of the driver  300  is provided at one side of the driver  300 . When an external force is applied to the first or second terminal  110  and  210 , to counteract the motion of the other terminal, the brake is used for the purpose of restricting the motion of the other terminal. Any brake can be used if it can accomplish this purpose. Preferably, a magnetic particle brake that is stable and has high response time is used. The magnetic particle brake can easily control a torque voltage and output torque. 
         [0034]    The sensor  400  according to the first embodiment of the invention measures motion magnitude and path of the driver  300  driven by an external force such as handling of the user. Any sensor can be used as the sensor  400  if it can measure motion magnitude and path of the driver  300  that drives the folders of the first and second terminals  110  and  210 . 
         [0035]    The converter  500  according to the first embodiment of the invention is used for the purpose of converting a motion signal of the first terminal  10 , measured by the sensor  400 , into an electric signal for communication or converting an electric signal received by the second terminal  210  into a motion signal for driving the second terminal  210 . Any converter can be used if it can accomplish the aforementioned purpose. However, it is preferable to use a converter including an encoder that is attached to the driver  300  and encodes a motion signal and a decoder that removes noise from a received electric signal and decodes the electric signal into a signal for communication. 
         [0036]    The communication module  600  according to the first embodiment of the invention is used for communication between the first and second terminals  110  and  210  and includes a data module of a conventional terminal and a data communication module  600  for controlling the terminal. 
       Second Embodiment 
       [0037]      FIG. 3  is a perspective view of human interaction systems using kinesthetic feedback according to a second embodiment of the present invention. Referring to  FIG. 3 , the human interaction systems according to the second embodiment of the invention use slide type terminals  120  and  220 . The configurations of the human interaction systems  120  and  220  according to the second embodiment of the invention are similar to those of the human interaction systems  110  and  210  according to the first embodiment of the invention, as shown in  FIG. 1 . However, the slide type terminals  120  and  220  perform a rotary motion different from that of the folder type terminals  110  and  210 , and thus the slide type terminals  120  and  220  have a configuration corresponding to the rotary motion. 
         [0038]    The driver  300  according to the second embodiment of the invention is used for the same purpose and effect as those of the driver  300  of the human interaction systems according to the first embodiment of the invention. The driver  300  according to the second embodiment of the invention uses a linear motor suitable for linear movement of a slide. Further, the brake for restricting the movement of the driver  300  uses a linear brake suitable to restrict linear movement. The linear brake is easy to restrict linear movement and has satisfactory performance and high stability. 
         [0039]    The converter  500  according to the second embodiment of the invention includes a linear encoder and a linear decoder for data conversion according to linear movement. 
         [0040]    The sensor  400  and the communication module  600  according to the second embodiment of the invention are identical to those of the human interaction systems according to the first embodiment of the invention so that detailed description thereof is omitted. 
       Third Embodiment 
       [0041]      FIG. 4  is a front view of human interaction systems using kinesthetic feedback according to a third embodiment of the present invention. Referring to  FIG. 4 , the human interaction systems according to the fourth embodiment of the invention use flexible displays  130  and  230 . The configurations of the human interaction systems  130  and  230  according to the third embodiment of the invention are similar to those of the human interaction systems  110  and  210  according to the first embodiment of the invention. However, the flexible displays  130  and  230  make a motion completely different from those of the terminals  110 ,  120 ,  210  and  220 , and thus the flexible displays  130  and  230  have a configuration corresponding thereto. 
         [0042]    The flexible displays  130  and  230  are driven by a plurality of wires or shape memory alloy (SMA) strips provided at one side of a display unit displaying images. 
         [0043]    The driver  300  according to the third embodiment of the invention is used for the same purpose and effect as those of the driver  300  according to the first embodiment of the invention and uses a DC motor or an SMA to drive the wires or SMA strips for operating the flexible displays  130  and  230 . 
         [0044]    Each of the flexible displays  130  and  230  includes a plurality of sensors  400  which are arranged at one side thereof, preferably, a mainly bent side of the flexible display, and measure a bending direction and magnitude of the flexible display. Any sensor can be used if it can perform this operation. Preferably, a bending sensor using resistance or an optical fiber function is used. 
         [0045]    The converter  500  and the communication module  600  according to the third embodiment of the invention are similar to those of the human interaction systems according to the first or second embodiment of the present invention so that detailed explanations thereof are omitted. 
       Modified Embodiment 
       [0046]    The human interaction systems  100  and  200  using kinesthetic feedback according to the present invention can be also applied to a PDP, PMP, notebook computer or industrial equipment that can be operated according to intercommunication in addition to the devices according to the first, second and third embodiments of the invention. For example, hinge angles of notebook computers connected to each other can be mutually controlled according to the aforementioned principle. In the same manner, hinges of monitors of desktop PCs connected to each other can be controlled through the aforementioned principle. 
         [0047]    &lt;Method of Operating Human Interaction Systems Using Kinesthetic Feedback&gt; 
         [0048]      FIG. 5  is a flowchart showing a method of operating the human interaction systems using kinesthetic feedback according to the present invention. Referring to  FIGS. 1 and 5 , a user applies a force to the first human interaction system  100  to handle the first human interaction system  100  in step S 100 . 
         [0049]    The sensor  400  included in the first human interaction system  100  measures motion information such as motion magnitude and path of the first human interaction system  100  handled by the user in step S 200 . The sensor  400  may use a force sensor, a torque sensor, a motion sensor, an acceleration measurement sensor or a velocity sensor because the first human interaction system  100  can make various motions according to its type. 
         [0050]    The motion information of the first human interaction system, measured by the sensor  400 , is converted into an electric signal for communication in step S 300 . 
         [0051]    The electric signal is transmitted to the second human interaction system  200  in step S 400 . 
         [0052]    The electric signal received by the second human interaction system  200  is converted into a motion signal for driving the second human interaction system  200  in step S 500 . 
         [0053]    The second human interaction system  200  is controlled such that the second human interaction system  200  makes a motion having a magnitude and path corresponding to the received motion signal of the first interaction device  100 . In this manner, Primary interaction of the first and second human interaction systems  100  and  200  is accomplished. 
         [0054]    When the user continuously handles the first human interaction system  100 , steps S 100  through S 600  are repeated to allow the second human interaction system  200  to make the same motion as that of the first human interaction system  100 . Unless the second human interaction system  200  is obstructed by an obstacle or an external force is applied to the second human interaction system  200 , the first human interaction system  100  does not generate additional feedback. Accordingly, the user can confirm that the second human interaction system  200  smoothly operates. An operating method when the second human interaction system  200  is obstructed by an obstacle or an external force is applied to the second human interaction system  200  will now be explained. 
         [0055]    An external force or an obstacle which counteracts the motion of the first human interaction system  100  is applied to the second human interaction system  200  while the first human interaction system  100  is handled such that the second human interaction system  200  makes the same motion as that of the first human interaction system  100  in step S 710 . 
         [0056]    The sensor  400  of the second human interaction system  200  measures motion information such as motion magnitude and path of the second human interaction system  200 , determined by the external force applied to the second human interaction system  200 , in step S 720 . 
         [0057]    The motion information is converted into an electric signal for communication in step S 730 . 
         [0058]    The electric signal is transmitted to the first human interaction system  100  from the second human interaction system  200  in step S 740 . 
         [0059]    The electric signal received by the first human interaction system  100  is converted into a motion signal corresponding to the external force applied to the second human interaction system  200  in step S 750 . Here, information on motion of the first human interaction system  100 , generated by the user, can be compared to the motion information on the external force applied to the second human interaction system  200  in step S 751 . 
         [0060]    Kinesthetic feedback corresponding to the motion information on the external force applied to the second human interaction system  200  is provided to the user from the first human interaction system  100  in step S 760 . Here, the first human interaction system  100  does not generate kinesthetic feedback corresponding to simple vibration such as conventional tactile feedback and generates kinesthetic feedback such as motion of a folder, slide movement, etc. 
       Aspect of Using Interaction Systems Using Kinesthetic Feedback 
     First Embodiment 
       [0061]      FIG. 6  shows mechanical motions of the human interaction systems using kinesthetic feedback according to the present invention and  FIGS. 7   a  and  7   b  show examples of using the human interaction systems using kinesthetic feedback according to the first embodiment of the present invention. 
         [0062]    Referring to  FIGS. 6 and 7   a , when a user  10  closes the folder of the first terminal  110  by a predetermined extent, the folder of the second terminal  210  is closed by the same extent without having an additional external operation. 
         [0063]    Referring to  FIGS. 6 and 7   b , if the second terminal  210  is obstructed by an obstacle or an external force  710  is applied to the second terminal  210  while the second terminal  210  is driven in interaction with the first terminal  110 , the first terminal  110  makes a motion corresponding to the motion of the second terminal  210  to generate feedback to the user  10 . This feedback corresponds to kinesthetic feedback. When the external force  710  applied to the second terminal  210  is weaker than the force of the user  10 , which is applied to the first terminal  110 , feedback is generated in such a manner that the folders of the first and second terminals  110  and  210  are closed slightly or slowly. Further, if the external force  710  is similar to the force of the user  10 , the folders of the first and second terminals  110  and  210  vibrate to generate kinesthetic feedback corresponding to the forces applied to the first and second terminals  110  and  210 . If the external force  710  applied to the second terminal  210  is greater than the force of the user  10 , kinesthetic feedback is generated in such a manner that the folders that are being closed are opened. The users of the first and second terminals  110  and  210  can respond to each other through the kinesthetic feedback. 
       Second Embodiment 
       [0064]      FIGS. 8   a  and  8   b  show examples of using the human interaction systems using kinesthetic feedback according to the second embodiment of the present invention. Referring to  FIGS. 6 and 8   a , when the user  10  slides the first terminal  120 , the second terminal  220  slides by the magnitude of the sliding motion of the first terminal  120 . 
         [0065]    However, if the second terminal  220  is obstructed by an obstacle or an external force  710  is applied to the second terminal  220  while the second terminal  220  is driven in interaction with the first terminal  120 , as shown in  FIG. 8   b , feedback corresponding to the motion of the second terminal  220  is generated in the first terminal  120 . This feedback corresponds to kinesthetic feedback. When the external force  710  applied to the second terminal  220  is weaker than the force of the user  10 , which is applied to the first terminal  120 , feedback is generated in such a manner that the first and second terminals  120  and  220  slowly slide. Further, if the external force  710  is similar to the force of the user  10 , slides of the first and second terminals  120  and  220  vibrate to generate kinesthetic feedback corresponding to the forces applied to the first and second terminals  120  and  220 . If the external force  710  applied to the second terminal  220  is greater than the force of the user  10 , kinesthetic feedback is generated in such a manner that the first and second terminals  120  and  220  reversely slide. The users of the first and second terminals  110  and  210  can respond to each other through the kinesthetic feedback. 
       Third Embodiment 
       [0066]      FIGS. 9   a  to  9   c  show examples of using the human interaction systems using kinesthetic feedback according to the third embodiment of the present invention. Referring to  FIG. 9   b , when the user  10  bends the first flexible display  130 , the second flexible display  230  is bent by the magnitude of the bending motion of the first flexible display  130  without having an additional external operation. 
         [0067]    Bending extents of the first and second flexible displays  130  and  230  can be controlled using the driver  300  such as wires having different lengths. The bending degrees of the first and second flexible displays  130  and  230  are measured at one side of each of the first and second flexible displays  130  and  230 , which is close to the end of the wires. 
         [0068]    The first and second flexible displays  130  and  230  operate according to an aspect similar to the aspect of using the human interaction systems according to the first or second embodiment of the invention. 
         [0069]    While the present invention has been described with reference to the particular illustrative embodiments, it is not to be restricted by the embodiments but only by the appended claims. It is to be appreciated that those skilled in the art can change or modify the embodiments without departing from the scope and spirit of the present invention.