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Research Article

Development of a VR-Based Excavator Operation Training System Integrated with Electrotactile Feedback

전기촉각 피드백을 통합한 VR 기반 굴삭기 조작 교육 시스템 개발

Kyeong Jun Kim1
,
Yeon Chae2
,
Youngjib Ham3*
김 경준1
,
채 연2
,
함 영집3*
1Master’s Student, Department of Civil, Urban and Environmental Engineering, Seoul National University
2Ph.D. Candidate, Department of Construction Science, Texas A&M University
3Corresponding Author, Member, Assistant Professor, Department of Civil, Urban and Environmental Engineering, Seoul National University
1서울대학교 건설환경도시공학부 석사과정
2Texas A&M대학교 Construtcion science 박사과정
3교신저자 ‧ 정회원 ‧ 서울대학교 건설환경도시공학부 부교수
*Corresponding Author
30 June 2026. pp. 9-18
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Abstract

Future excavators may integrate supplementary sensory feedback, such as auditory and tactile cues, to support operators beyond visual information. Before such systems are applied to real equipment, their safety and usability need to be evaluated in a controlled VR environment. This study developed a VR-based excavator training system that integrates electrotactile feedback to help learners perceive proximity risks between the bucket and obstacles. The system calculates the bucket–obstacle distance in real time and adjusts the intensity of electrotactile stimulation according to distance changes. The experiment was conducted under three conditions: monitor-based operation (C1), VR-based operation (C2), and VR-based operation with electrotactile feedback (C3). The results showed that the VR environment functioned as an experimental and educational platform for safely experiencing and evaluating feedback. In C3 condition, collision frequency decreased, and participants reported that feedback helped them recognize and avoid risks more quickly. This study contributes by integrating feedback into VR-based excavator training and evaluating its effects through both task performance and user assessment.

Keywords
Excavator
VR Training
Electrotactile Feedback
Proximity Risk Perception

미래형 굴삭기는 시각 정보뿐만 아니라 청각, 촉각과 같은 보조 감각 채널을 결합한 시스템으로 확장될 수 있으며, 이러한 시스템은 실제 장비 적용 전 VR 환경에서 안전하게 검증될 필요가 있다. 본 연구는 굴삭기 조작 중 발생하는 근접 위험을 학습자가 직관적으로 인지할 수 있도록, VR 교육 환경에 전기촉각 피드백을 통합한 훈련 시스템을 구축하였다. VR 교육 환경에서 버킷과 장애물 간 거리를 실시간으로 산출하고, 거리 변화에 따라 전기촉각 자극 강도를 조절하여 근접 위험 정보를 학습자에게 제공하였다. 실험은 모니터 기반 조작(C1), VR 기반 조작(C2), VR 기반 조작에 전기촉각 피드백을 추가한 조건(C3) 세 조건에서 수행하였다. 연구 결과, VR 시스템은 전기촉각 피드백을 안전하게 경험하고 평가할 수 있는 실험 및 교육 플랫폼으로 기능하였다. 전기촉각 피드백이 추가된 C3 조건에서는 충돌 횟수가 현저히 감소하였고, 참가자들은 전기촉각 피드백이 위험을 더 빠르게 인지하고 회피하는 데 도움이 된다고 평가하였다. 본 연구는 전기촉각 피드백을 VR 기반 굴삭기 교육에 통합하고, 그 효과를 수행 성과와 사용자 평가로 함께 확인했다는 점에서 의의가 있다.

키워드
굴삭기
VR 교육
전기촉각 피드백
근접 위험 인지
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Information
  • Publisher :Korean Society of Automation and Robotics in Construction
  • Publisher(Ko) :(사)한국건설자동화·로보틱스학회
  • Journal Title :Journal of Construction Automation and Robotics
  • Journal Title(Ko) :건설자동화·로보틱스 논문집
  • Volume : 5
  • No :2
  • Pages :9-18
  • Received Date : 2026-06-17
  • Revised Date : 2026-06-29
  • Accepted Date : 2026-06-30
  • DOI :https://doi.org/10.55785/JCAR.5.2.9
Journal Informaiton Journal of Construction Automation and Robotics Journal of Construction Automation and Robotics
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