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10
1-background/related-work/1-haptic-hand.tex
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@@ -76,7 +76,7 @@ These receptors give the hand its great tactile sensitivity and great dexterity
\label{sensorimotor_continuum} \label{sensorimotor_continuum}
\textcite{jones2006human} have proposed a sensorimotor continuum of hand functions, from mainly sensory activities to activities with a more important motor component. \textcite{jones2006human} have proposed a sensorimotor continuum of hand functions, from mainly sensory activities to activities with a more important motor component.
As illustrated in the \figref{sensorimotor_continuum}, \Citeauthor{jones2006human} propose to delineate four categories of hand function on this continuum: As illustrated in \figref{sensorimotor_continuum}, \Citeauthor{jones2006human} propose to delineate four categories of hand function on this continuum:
\begin{itemize} \begin{itemize}
\item \emph{Passive touch}, or tactile sensing, is the ability to perceive an object through cutaneous sensations with a static hand contact. The object may be moving, but the hand remains static. It allows for relatively good surface perception, \eg in \textcite{gunther2022smooth}. \item \emph{Passive touch}, or tactile sensing, is the ability to perceive an object through cutaneous sensations with a static hand contact. The object may be moving, but the hand remains static. It allows for relatively good surface perception, \eg in \textcite{gunther2022smooth}.
\item \emph{Exploration}, or active haptic sensing, is the manual and voluntary exploration of an object with the hand, involving all cutaneous and kinesthetic sensations. It enables a more precise perception than passive touch \cite{lederman2009haptic}. \item \emph{Exploration}, or active haptic sensing, is the manual and voluntary exploration of an object with the hand, involving all cutaneous and kinesthetic sensations. It enables a more precise perception than passive touch \cite{lederman2009haptic}.
@@ -100,13 +100,13 @@ In this thesis, we are interested in exploring visuo-haptic augmentations (\part
Before we describe how the hand is used to explore and grasp objects, we need to look at its anatomy. Before we describe how the hand is used to explore and grasp objects, we need to look at its anatomy.
Underneath the skin, muscles and tendons can actually move because they are anchored to the bones. Underneath the skin, muscles and tendons can actually move because they are anchored to the bones.
As shown in the \figref{blausen2014medical_hand}, the skeleton of the hand is formed of 27 articulated bones. As shown in \figref{blausen2014medical_hand}, the skeleton of the hand is formed of 27 articulated bones.
The wrist, comprising 8 carpal bones, connects the hand to the arm and is the base for the 5 metacarpal bones of the palm, one for each finger. The wrist, comprising 8 carpal bones, connects the hand to the arm and is the base for the 5 metacarpal bones of the palm, one for each finger.
Each finger is formed by a chain of 3 phalanges, proximal, middle and distal, except for the thumb which has only two phalanges, proximal and distal. Each finger is formed by a chain of 3 phalanges, proximal, middle and distal, except for the thumb which has only two phalanges, proximal and distal.
The joints at the base of each phalanx allow flexion and extension, \ie folding and unfolding movements relative to the preceding bone. The joints at the base of each phalanx allow flexion and extension, \ie folding and unfolding movements relative to the preceding bone.
The proximal phalanges can also adduct and abduct, \ie move the fingers towards and away from each other. The proximal phalanges can also adduct and abduct, \ie move the fingers towards and away from each other.
Finally, the metacarpal of the thumb is capable of flexion/extension and adduction/abduction, which allows the thumb to oppose the other fingers. Finally, the metacarpal of the thumb is capable of flexion/extension and adduction/abduction, which allows the thumb to oppose the other fingers.
These axes of movement are called DoFs and can be represented by a \emph{kinematic model} of the hand with 27 DoFs as shown in the \figref{blausen2014medical_hand}. These axes of movement are called DoFs and can be represented by a \emph{kinematic model} of the hand with 27 DoFs as shown in \figref{blausen2014medical_hand}.
Thus the thumb has 5 DoFs, each of the other four fingers has 4 DoFs and the wrist has 6 DoFs and can take any position (3 DoFs) or orientation (3 DoFs) in space \cite{erol2007visionbased}. Thus the thumb has 5 DoFs, each of the other four fingers has 4 DoFs and the wrist has 6 DoFs and can take any position (3 DoFs) or orientation (3 DoFs) in space \cite{erol2007visionbased}.
This complex structure enables the hand to perform a wide range of movements and gestures. However, the way we explore and grasp objects follows simpler patterns, depending on the object being touched and the aim of the interaction. This complex structure enables the hand to perform a wide range of movements and gestures. However, the way we explore and grasp objects follows simpler patterns, depending on the object being touched and the aim of the interaction.
@@ -124,7 +124,7 @@ This complex structure enables the hand to perform a wide range of movements and
\label{exploratory_procedures} \label{exploratory_procedures}
The exploration of an object by the hand follows patterns of movement, called exploratory procedures \cite{lederman1987hand}. The exploration of an object by the hand follows patterns of movement, called exploratory procedures \cite{lederman1987hand}.
As illustrated in the \figref{exploratory_procedures}, a specific and optimal movement of the hand is performed for a given property of the object being explored to acquire the most relevant sensory information for that property. As illustrated in \figref{exploratory_procedures}, a specific and optimal movement of the hand is performed for a given property of the object being explored to acquire the most relevant sensory information for that property.
For example, a \emph{lateral movement} of the fingers on the surface to identify its texture, a \emph{pressure} with the finger to perceive its hardness, or a \emph{contour following} of the object to infer its shape. For example, a \emph{lateral movement} of the fingers on the surface to identify its texture, a \emph{pressure} with the finger to perceive its hardness, or a \emph{contour following} of the object to infer its shape.
These three procedures involve only the fingertips and in particular the index finger \cite{gonzalez2014analysis}. These three procedures involve only the fingertips and in particular the index finger \cite{gonzalez2014analysis}.
For the other procedures, the whole hand is used: for example, approaching or posing the palm to feel the temperature (\emph{static contact}), holding the object in the hand to estimate its weight (\emph{unsupported holding}). For the other procedures, the whole hand is used: for example, approaching or posing the palm to feel the temperature (\emph{static contact}), holding the object in the hand to estimate its weight (\emph{unsupported holding}).
@@ -149,7 +149,7 @@ In \emph{power grasps}, the object is held firmly and follows the movements of t
In \emph{precision grasps}, the fingers can move the object within the hand but without moving the arm. In \emph{precision grasps}, the fingers can move the object within the hand but without moving the arm.
\emph{Intermediate grasps} combine strength and precision in equal proportions \cite{feix2016grasp}. \emph{Intermediate grasps} combine strength and precision in equal proportions \cite{feix2016grasp}.
For all possible objects and tasks, the number of grasp types can be reduced to 34 and classified as the taxonomy on \figref{gonzalez2014analysis} \cite{gonzalez2014analysis}.\footnote{An updated taxonomy was then proposed by \textcite{feix2016grasp}: it is more complete but harder to present.} For all possible objects and tasks, the number of grasp types can be reduced to 34 and classified as the taxonomy in \figref{gonzalez2014analysis} \cite{gonzalez2014analysis}.\footnote{An updated taxonomy was then proposed by \textcite{feix2016grasp}: it is more complete but harder to present.}
For everyday objects, this number is even smaller, with between 5 and 10 grasp types depending on the activity \cite{bullock2013grasp}. For everyday objects, this number is even smaller, with between 5 and 10 grasp types depending on the activity \cite{bullock2013grasp}.
Furthermore, the fingertips are the most involved areas of the hand, both in terms of frequency of use and time spent in contact: In particular, the thumb is almost always used, as well as the index and middle fingers, but the other fingers are used less frequently \cite{gonzalez2014analysis}. Furthermore, the fingertips are the most involved areas of the hand, both in terms of frequency of use and time spent in contact: In particular, the thumb is almost always used, as well as the index and middle fingers, but the other fingers are used less frequently \cite{gonzalez2014analysis}.
This can be explained by the sensitivity of the fingertips (\secref{haptic_sense}) and the ease with which the thumb can be opposed to the index and middle fingers compared to the other fingers. This can be explained by the sensitivity of the fingertips (\secref{haptic_sense}) and the ease with which the thumb can be opposed to the index and middle fingers compared to the other fingers.

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1-background/related-work/2-wearable-haptics.tex
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@@ -12,7 +12,7 @@ The haptic system should be hand-held or worn, \eg on the hand, and \enquote{not
\label{wearability_level} \label{wearability_level}
Different types of haptic devices can be worn on the hand, but only some of them can be considered wearable. Different types of haptic devices can be worn on the hand, but only some of them can be considered wearable.
\textcite{pacchierotti2017wearable} classify them into three levels of wearability, as illustrated in the \figref{pacchierotti2017wearable}. \textcite{pacchierotti2017wearable} classify them into three levels of wearability, as illustrated in \figref{pacchierotti2017wearable}.
An increasing wearability resulting in the loss of the system's kinesthetic feedback capability. An increasing wearability resulting in the loss of the system's kinesthetic feedback capability.
\begin{subfigs}{pacchierotti2017wearable}{ \begin{subfigs}{pacchierotti2017wearable}{
@@ -75,9 +75,9 @@ However, these platforms are specifically designed to provide haptic feedback to
A pin-array is a surface made up of small, rigid pins arranged close together in a grid and that can be moved individually. A pin-array is a surface made up of small, rigid pins arranged close together in a grid and that can be moved individually.
When placed in contact with the fingertip, it can create sensations of edge, pressure and texture. When placed in contact with the fingertip, it can create sensations of edge, pressure and texture.
The \figref{sarakoglou2012high} shows an example of a pin-array consisting of \numproduct{4 x 4} pins of \qty{1.5}{\mm} diameter and \qty{2}{\mm} height, spaced at \qty{2}{\mm} \cite{sarakoglou2012high}. \figref{sarakoglou2012high} shows an example of a pin-array consisting of \numproduct{4 x 4} pins of \qty{1.5}{\mm} diameter and \qty{2}{\mm} height, spaced at \qty{2}{\mm} \cite{sarakoglou2012high}.
Pneumatic systems use a fluid such as air or water to inflate membranes under the skin, creating sensations of contact and pressure \cite{raza2024pneumatically}. Pneumatic systems use a fluid such as air or water to inflate membranes under the skin, creating sensations of contact and pressure \cite{raza2024pneumatically}.
Multiple membranes are often used in a grid to simulate edges and textures, as in the \figref{ujitoko2020development} \cite{ujitoko2020development}. Multiple membranes are often used in a grid to simulate edges and textures, as in \figref{ujitoko2020development} \cite{ujitoko2020development}.
Although these two types of effector can be considered wearable, their actuation requires a high level of mechanical and electronic complexity that makes the system as a whole not portable. Although these two types of effector can be considered wearable, their actuation requires a high level of mechanical and electronic complexity that makes the system as a whole not portable.
\begin{subfigs}{normal_actuators}{ \begin{subfigs}{normal_actuators}{
@@ -133,7 +133,7 @@ They are small, lightweight and can be placed directly on any part of the hand.
All vibrotactile actuators are based on the same principle: generating an oscillating motion from an electric current with a frequency and amplitude high enough to be perceived by cutaneous mechanoreceptors. All vibrotactile actuators are based on the same principle: generating an oscillating motion from an electric current with a frequency and amplitude high enough to be perceived by cutaneous mechanoreceptors.
Several types of vibrotactile actuators are used in haptics, with different trade-offs between size, proposed \DoFs and application constraints. Several types of vibrotactile actuators are used in haptics, with different trade-offs between size, proposed \DoFs and application constraints.
An \ERM is a direct current (DC) motor that rotates an off-center mass when a voltage or current is applied (\figref{precisionmicrodrives_erm}). \ERMs are easy to control, inexpensive and can be encapsulated in a few millimeters cylinder or coin form factor. However, they have only one \DoF because both the frequency and amplitude of the vibration are coupled to the speed of the rotation, \eg low (high) frequencies output at low (high) amplitudes, as shown on \figref{precisionmicrodrives_erm_performances}. An \ERM is a direct current (DC) motor that rotates an off-center mass when a voltage or current is applied (\figref{precisionmicrodrives_erm}). \ERMs are easy to control, inexpensive and can be encapsulated in a few millimeters cylinder or coin form factor. However, they have only one \DoF because both the frequency and amplitude of the vibration are coupled to the speed of the rotation, \eg low (high) frequencies output at low (high) amplitudes, as shown in \figref{precisionmicrodrives_erm_performances}.
\begin{subfigs}{erm}{Diagram and performance of an \ERM. }[][ \begin{subfigs}{erm}{Diagram and performance of an \ERM. }[][
\item Diagram of a cylindrical encapsulated \ERM. From Precision Microdrives~\footnotemark. \item Diagram of a cylindrical encapsulated \ERM. From Precision Microdrives~\footnotemark.
@@ -148,7 +148,7 @@ An \ERM is a direct current (DC) motor that rotates an off-center mass when a vo
A \LRA consists of a coil that creates a magnetic field from an alternative current (AC) to oscillate a magnet attached to a spring, as an audio loudspeaker (\figref{precisionmicrodrives_lra}). A \LRA consists of a coil that creates a magnetic field from an alternative current (AC) to oscillate a magnet attached to a spring, as an audio loudspeaker (\figref{precisionmicrodrives_lra}).
They are more complex to control and a bit larger than \ERMs. They are more complex to control and a bit larger than \ERMs.
Each \LRA is designed to vibrate with maximum amplitude at a given resonant frequency, but won't vibrate efficiently at other frequencies, \ie their bandwidth is narrow, as shown on \figref{azadi2014vibrotactile}. Each \LRA is designed to vibrate with maximum amplitude at a given resonant frequency, but won't vibrate efficiently at other frequencies, \ie their bandwidth is narrow, as shown in \figref{azadi2014vibrotactile}.
A voice-coil actuator is a \LRA but capable of generating vibration at two \DoF, with an independent control of the frequency and amplitude of the vibration on a wide bandwidth. A voice-coil actuator is a \LRA but capable of generating vibration at two \DoF, with an independent control of the frequency and amplitude of the vibration on a wide bandwidth.
They are larger in size than \ERMs and \LRAs, but can generate more complex renderings. They are larger in size than \ERMs and \LRAs, but can generate more complex renderings.

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2-perception/xr-perception/1-introduction.tex
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@@ -1,6 +1,6 @@
% Delivers the motivation for your paper. It explains why you did the work you did. % Delivers the motivation for your paper. It explains why you did the work you did.
\noindent Most of the haptic augmentations of tangible surfaces using with wearable haptic devices, including roughness textures (\secref[related_work]{texture_rendering}), have been studied without a visual feedback, and none have considered the influence of the visual rendering on their perception or integrated them in \AR and \VR (\secref[related_work]{texture_rendering}). \noindent Most of the haptic augmentations of tangible surfaces using with wearable haptic devices, including roughness of textures (\secref[related_work]{texture_rendering}), have been studied without a visual feedback, and none have considered the influence of the visual rendering on their perception or integrated them in \AR and \VR (\secref[related_work]{texture_rendering}).
Still, it is known that the visual rendering of a tangible can influence the perception of its haptic properties (\secref[related_work]{visual_haptic_influence}), and that the perception of same haptic force-feedback or vibrotactile rendering can differ between \AR and \VR, probably due to difference in perceived simultaneity between visual and haptic stimuli (\secref[related_work]{ar_vr_haptic}). Still, it is known that the visual rendering of a tangible can influence the perception of its haptic properties (\secref[related_work]{visual_haptic_influence}), and that the perception of same haptic force-feedback or vibrotactile rendering can differ between \AR and \VR, probably due to difference in perceived simultaneity between visual and haptic stimuli (\secref[related_work]{ar_vr_haptic}).
Indeed, in \AR, the user can see their own hand touching, the haptic device worn and the \RE, while in \VR they are hidden by the \VE. Indeed, in \AR, the user can see their own hand touching, the haptic device worn and the \RE, while in \VR they are hidden by the \VE.