From 2a60eb0c39f8b56b6aaaab5289cb8f1b92298f85 Mon Sep 17 00:00:00 2001 From: Erwan Normand Date: Wed, 4 Sep 2024 17:19:10 +0200 Subject: [PATCH] Shape and conclusion haptic properties --- .../related-work/1-wearable-haptics.tex | 46 +- .../figures/plaisier2009salient_1.jpg | Bin 0 -> 39201 bytes .../figures/plaisier2009salient_2.jpg | Bin 0 -> 38301 bytes references.bib | 4444 +++++++++-------- 4 files changed, 2291 insertions(+), 2199 deletions(-) create mode 100644 1-introduction/related-work/figures/plaisier2009salient_1.jpg create mode 100644 1-introduction/related-work/figures/plaisier2009salient_2.jpg diff --git a/1-introduction/related-work/1-wearable-haptics.tex b/1-introduction/related-work/1-wearable-haptics.tex index 6a364a8..1b39c74 100644 --- a/1-introduction/related-work/1-wearable-haptics.tex +++ b/1-introduction/related-work/1-wearable-haptics.tex @@ -147,7 +147,7 @@ En venant opposer le pouce ou la paume aux autres doigts (pad or palm grasps), o La préhension varie donc selon la forme de l'objet et la tâche a réaliser, par exemple saisir un stylo du bout des doigts puis le tenir pour écrire avec ou bien prendre une tasse par le corps pour la remplir et par l'anse pour la boire~\cite{cutkosky1986modeling}. Trois types de préhensions sont distingués selon leur degré de force et de précision: Dans les préhensions de force, l'objet est tenu fermement et suit les mouvements de la main de façon rigide, tandis que dans les préhensions de précision, les doigts peuvent bouger l'objet à l'intérieur de la main mais sans bouger le bras. Les préhensions mixtes combinent force et précision en proportions égales~\cite{feix2016grasp}. -\fig{gonzalez2014analysis}{Taxonomy of grap types of~\textcite{gonzalez2014analysis}, classified according to their type (power, precision or intermediate) and the shape of the grasped objet. Each grasp show the area of the palm and fingers in contact with the object and the grasp with an example of object.} +\fig{gonzalez2014analysis}{Taxonomy of grap types of~\textcite{gonzalez2014analysis}}[, classified according to their type (power, precision or intermediate) and the shape of the grasped objet. Each grasp show the area of the palm and fingers in contact with the object and the grasp with an example of object.] Indépendamment de l'objet et de la tâche, le nombre de types de préhension peut être réduit à 34 types et classifié comme la taxonomie sur la \figref{gonzalez2014analysis}~\cite{gonzalez2014analysis}. Une taxonomie plus complète a ensuite été proposée par \textcite{feix2016grasp}. @@ -316,7 +316,7 @@ Cette perception est donc distincte de la température physique du matériau, et Par exemple, un objet plus volumineux ou une surface plus lisse, augmentant l'aire de contact, augmente la circulation thermique et rend une sensation de température plus intense~\cite{bergmanntiest2008thermosensory}. Parce qu'elle est basée sur la circulation de la chaleur, la perception de la température est plus lente que les autres propriétés matérielles et demande un toucher statique (voir \figref{exploratory_procedures}) de plusieurs secondes pour que la température de la peau s'équilibre avec celle de l'objet. -Comme illustré sur la Fig. ??, la température $T(t)$ du doigt à l'instant $t$ et au contact avec une surface suit une loi décroissante exponentielle, où $T_s$ est la température initiale de la peau, $T_e$ est la température de la surface, $t$ est le temps et $\tau$ est la constante de temps: +La température $T(t)$ du doigt à l'instant $t$ et au contact avec une surface suit une loi décroissante exponentielle, où $T_s$ est la température initiale de la peau, $T_e$ est la température de la surface, $t$ est le temps et $\tau$ est la constante de temps: \begin{equation} \label{eq:temperature} T(t) = (T_s - T_e) \, e^{-t / \tau} + T_e @@ -341,14 +341,30 @@ Dans les deux cas et si l'objet est assez petit, un grip de précision (voir \fi Sinon, il est nécessaire de suivre les contours de l'objet avec les doigts pour estimer sa longueur (voir \figref{exploratory_procedures}), mais avec une précision dix fois moins bonne et une sous-estimation de la longueur (loi de puissance avec un exposant \qty{0.9})~\cite{bergmanntiest2011cutaneous}. La perception du volume d'un objet qui n'est pas petit se fait typiquement par une enclosure de la main, mais l'estimation est fortement influencée par la taille, la forme et la masse de l'objet, pour un volume identique~\cite{kahrimanovic2010haptic}. -%La forme de l'objet peut-être définie comme la perception de sa \emph{géométrie globale}, mais cette perception est difficile à relier avec des caractéristiques physiques de l'objet. +La forme de l'objet peut-être définie comme la perception de sa \emph{géométrie globale}, \ie de sa forme et de ses contours. +C'est par exemple quand on cherche une clé dans une poche. +L'exploration de contours et l'enclosure sont alors employés, comme pour l'estimation des longueur et du volume. +Si l'objet est non connu a priori, son identification objet est alors plutôt lente prends plusieurs secondes~\cite{norman2004visual}. +C'est pourquoi, l'exploration d'autres propriétés est alors privilégié pour reconnaitre l'objet plus rapidement, en particulier des bords marqués~\cite{klatzky1987there}, \eg une vis parmi des clous (voir \figref{plaisier2009salient_2}), ou des propriétés matérielles particulières~\cite{lakatos1999haptic,plaisier2009salient}, \eg un objet en métal parmi des objets en plastique. -% Further experimental methods confirm the specialization of touch for material properties as opposed to shape. -% Metaphorically speaking, exploration is a gatekeeper for the perception of object properties through touch. -% Material properties are extracted very quickly. -% In contrast, the shape of an object is particularly taxing to extract, as it requires a motorically complex and relatively slow form of exploration, ‘‘contour following’’ [lederman1987hand]. -% Shape descriptions emerge relatively late in processing [Lakatos1999haptic], and under free exploration without vision, shape is not salient as opposed to material properties [klatzky1987there]. -% Indeed, shape may not be processed at all when material properties are sufficient to perform a task [klatzky1989haptic]. +\begin{subfigs}{plaisier2009salient}{Identification d'une sphère parmi des cubes~\cite{plaisier2009salient}. }[ + \item La forme a un effet important sur la perception du volume d'un objet, \eg une sphère est perçue plus petite qu'un cube de même volume. + \item L'absence de bord marqué sur la sphère la rend facile à identifier parmi des cubes. + ] + \subfigsheight{40mm} + \subfig{plaisier2009salient_1} + \subfig{plaisier2009salient_2} +\end{subfigs} + + +\subsubsection{Conclusion} + +La perception haptique des objets implique donc plusieurs mécanismes simultanés aux interactions complexes. +Ainsi, des mouvements exploratoires de la main et des doigts sont effectués au contact de l'objet selon la propriété explorée afin obtenir de multiples informations sensorielles venant de plusieurs capteurs cutanés et kinesthésiques. +Ces sensations traduisent des paramètres physiques de l'objet ou, plus difficilement mesurable, des interactions entre l'objet et la peau, mais qui sont influencée par de nombreux facteurs, comme la vitesse, la force et le temps d'exploration, mais aussi la sensibilité individuelle et le contexte de l'interaction. +Des indices perceptuels sont alors construit suivant des lois de discrimination et d'intensité perçue de ces sensations, et sont alors intégrés pour former une perception de la propriété explorée. +Un toucher statique peut suffire pour certaines propriétés, mais une action motrice est souvent cruciale pour la perception haptique. +Enfin, il est fréquent qu'un indice perceptuel soit particulièrement important dans la perception d'une propriété, mais une certaine constance perceptuelle semble possible en compensant son absence par d'autres, par exemple en touchant indirectement via un outil tenu en main. \subsection{Wearable Haptics} @@ -358,12 +374,12 @@ La perception du volume d'un objet qui n'est pas petit se fait typiquement par u \subsubsection{Wearable Haptic Devices} \label{wearable_haptic_devices} -\paragraph{Mechanics and Wearability} - % Tradeoff realistic and cost + analogy with sound, Hi-Fi costs a lot and is realistic, but 40$ BT headphone is more practical and enough, as cutaneous feedback without kinesthesic could be enough for wearable haptics and far more affordable and comfortable than world- or body-grounded haptics + cutaneous even better than kine for rendering surface curvature and fine manipulation % Level of wearability is inverse of kinesthetic feedback capability +\paragraph{Level of Wearability} + \paragraph{Moving Actuators} \paragraph{Vibrotactile Actuators} @@ -371,21 +387,19 @@ La perception du volume d'un objet qui n'est pas petit se fait typiquement par u \paragraph{Kinesthetic Actuators} -\subsubsection{Wearable Haptic Renderings} +\subsubsection{Renderings of Haptic Materials} \label{wearable_haptic_renderings} -\paragraph{Contact} - \paragraph{Texture} -\paragraph{Stiffness} +\paragraph{Hardness} \paragraph{Temperature} \paragraph{Shape} -\subsubsection{Evaluating the Haptic Feedback} +\subsubsection{Evaluating the Haptic Rendering} \label{wearable_haptics_evaluation} Les nombreuses interfaces et rendus des dispositifs haptiques portables développés tendent à reproduire des expérience perceptuelles similaires, voire réalistes, à celles des interactions haptiques avec des objets réels. diff --git a/1-introduction/related-work/figures/plaisier2009salient_1.jpg b/1-introduction/related-work/figures/plaisier2009salient_1.jpg new file mode 100644 index 0000000000000000000000000000000000000000..272ddff12b2690aa5b006113820c0fc8bda7c77e GIT binary patch literal 39201 zcmbUIc~}x?`#y|2OEoP{(`Hjn`AJPDHzqeGE&Vj5re;nSxS%qn;zB^BqUORgOIDgW z>L?>jIptDYB$-YAH?hW(Jeh(%SaCv#a|>&&%Gvq2ZBH z!PxkOaBBL^%&hF~ySe$LWz~ljwPsbj_HkaHn0)qsrUhRAZ|AiG%F@%e^BM>p;~d4AKSYr8C+fBs_k4@D0fpKZ2s30d58`TF1%Gi%qW!%H8h_TQQP zKbzPu|DR^||C`wVe_le9ZJ&JtHt(|?Cf+70QB;!9f1muPf~;n(nvR8w;hcet4BXrP zrNX0Lh+Hkn<6e;01a@aaR!hifoVYnaM4qMD2kt9Ez73rufei 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