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1-introduction/introduction/introduction.tex
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This thesis presents research on the perception and interaction directly with the hand with real and virtual everyday objects, visually and haptically augmented using immersive augmented reality and wearable haptic devices. This thesis presents research on the perception and interaction directly with the hand with real and virtual everyday objects, visually and haptically augmented using immersive augmented reality and wearable haptic devices.
\sectionstartoc{Visual and Tactile Object Augmentations} \section{Visual and Tactile Object Augmentations}
\subsectionstartoc{Everyday Interaction with Everyday Objects} \subsectionstarbookmark{Everyday Interaction with Everyday Objects}
In daily life, we simultaneously look at and touch the everyday objects around us without even thinking about it. In daily life, we simultaneously look at and touch the everyday objects around us without even thinking about it.
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@@ -37,7 +37,7 @@ This rich and complex variety of actions and sensations makes it particularly di
%Cette riche et complexe diversité de sensations rend particulièrement difficile de le recréer artificiellement, par exemple dans des environnements virtuels ou de téléopération. %Cette riche et complexe diversité de sensations rend particulièrement difficile de le recréer artificiellement, par exemple dans des environnements virtuels ou de téléopération.
\subsectionstartoc{Wearable Haptics Promise Everyday Use} \subsectionstarbookmark{Wearable Haptics Promise Everyday Use}
\emph{Haptics} is the study of the sense of touch and user interfaces that involve touch. \emph{Haptics} is the study of the sense of touch and user interfaces that involve touch.
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\end{subfigs} \end{subfigs}
\subsectionstartoc{Augmented Reality Is Not Only Visual} \subsectionstarbookmark{Augmented Reality Is Not Only Visual}
AR integrates virtual content into the real world perception, creating the illusion of a unique augmented environment (AE). AR integrates virtual content into the real world perception, creating the illusion of a unique augmented environment (AE).
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@@ -157,7 +157,7 @@ The integration of wearable haptics with AR seems to be one of the most promisin
\end{subfigs} \end{subfigs}
\sectionstartoc{Research Challenges of Wearable Visuo-Haptic Augmented Reality} \section{Research Challenges of Wearable Visuo-Haptic Augmented Reality}
The integration of wearable haptics with AR to create a visuo-haptic augmented environment (vhAE) is complex and presents many perceptual and interaction challenges, \ie sensing the AE and acting effectively upon it. The integration of wearable haptics with AR to create a visuo-haptic augmented environment (vhAE) is complex and presents many perceptual and interaction challenges, \ie sensing the AE and acting effectively upon it.
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%These challenges are illustrated in the visuo-haptic interaction loop in \figref{interaction-loop}. %These challenges are illustrated in the visuo-haptic interaction loop in \figref{interaction-loop}.
\subsectionstartoc{Provide Plausible and Coherent Visuo-Haptic Augmentations} \subsectionstarbookmark{Provide Plausible and Coherent Visuo-Haptic Augmentations}
Many haptic devices have been designed and evaluated specifically for use in VR, providing realistic and varied kinesthetic and tactile feedback to VOs. Many haptic devices have been designed and evaluated specifically for use in VR, providing realistic and varied kinesthetic and tactile feedback to VOs.
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@@ -225,7 +225,7 @@ It is therefore unclear to what extent the real and virtual visuo-haptic sensati
% on voit sa propre main toucher, contrairement à la VR, où la vision est particulièrement dominante (eg retargeting), difficile à dire si le cas en RA, surtout que si touche objets augmentés, difficile de modifier visuellement et haptiquement on peut ajouter des sensations pas vraiment en enlever. Lactuateur n'est pas là où on touche, à quel point les sensations seront réalistes ? En cohérence avec les sensations visuelles ? À quel point la perception différente de la VR, en terme de rendu main env, et de latence ? Important car permettra d'utiliser efficacement, avwc correction si besoin par rapport à la VR. Lq boucle d'interaction a forcément de la latence par rapport aux mouvements, à la proprioception, et pas les mêmes entre visuel et haptique, quel effet ? % on voit sa propre main toucher, contrairement à la VR, où la vision est particulièrement dominante (eg retargeting), difficile à dire si le cas en RA, surtout que si touche objets augmentés, difficile de modifier visuellement et haptiquement on peut ajouter des sensations pas vraiment en enlever. Lactuateur n'est pas là où on touche, à quel point les sensations seront réalistes ? En cohérence avec les sensations visuelles ? À quel point la perception différente de la VR, en terme de rendu main env, et de latence ? Important car permettra d'utiliser efficacement, avwc correction si besoin par rapport à la VR. Lq boucle d'interaction a forcément de la latence par rapport aux mouvements, à la proprioception, et pas les mêmes entre visuel et haptique, quel effet ?
\subsectionstartoc{Enable Effective Interaction with the Augmented Environment} \subsectionstarbookmark{Enable Effective Interaction with the Augmented Environment}
Touching, grasping and manipulating VOs are fundamental interactions for AR~\autocite{kim2018revisiting}, VR~\autocite{bergstrom2021how} and VEs in general~\autocite{laviola20173d}. Touching, grasping and manipulating VOs are fundamental interactions for AR~\autocite{kim2018revisiting}, VR~\autocite{bergstrom2021how} and VEs in general~\autocite{laviola20173d}.
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@@ -252,7 +252,7 @@ Yet, it is unclear which type of visual and haptic feedback is the best suited t
% comme on laisse la main libre, et quelle visible, il n'y a pas de contrôleur tracké comme en VR, donc on s'attend à des interactions naturelles directement avec la main, de manière seamless entre physique et virtuel. On tracking additionel des actuateurs qui couvre la main. Question de où placer lactuateur, encore une fois le feedback n'est pas colocalisé avec l'action, contrairement au visuel (+- lag). Il y a également des décalages dans le temps et l'espace entre la main physique et son replicat virtuel, or c'est ce dernier qui agit avec les objets virtuel, est-ce qu'il faut le montrer ? Ou des rendus haptiques suffisent, complémentaire, en contradiction ? % comme on laisse la main libre, et quelle visible, il n'y a pas de contrôleur tracké comme en VR, donc on s'attend à des interactions naturelles directement avec la main, de manière seamless entre physique et virtuel. On tracking additionel des actuateurs qui couvre la main. Question de où placer lactuateur, encore une fois le feedback n'est pas colocalisé avec l'action, contrairement au visuel (+- lag). Il y a également des décalages dans le temps et l'espace entre la main physique et son replicat virtuel, or c'est ce dernier qui agit avec les objets virtuel, est-ce qu'il faut le montrer ? Ou des rendus haptiques suffisent, complémentaire, en contradiction ?
\sectionstartoc{Approach and Contributions} \section{Approach and Contributions}
The aim of this thesis is to understand how immersive visual and wearable haptic feedback compare and complement each other in the context of direct hand perception and interaction with augmented and VOs. The aim of this thesis is to understand how immersive visual and wearable haptic feedback compare and complement each other in the context of direct hand perception and interaction with augmented and VOs.
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@@ -281,7 +281,7 @@ Our contributions in these two axes are summarized in \figref{contributions}.
] ]
\subsectionstartoc{Modifying the Perception of Tangible Surfaces with Visuo-Haptic Texture Augmentations} \subsectionstarbookmark{Modifying the Perception of Tangible Surfaces with Visuo-Haptic Texture Augmentations}
% Very short shared motivation of the shared objective of the two contributions % Very short shared motivation of the shared objective of the two contributions
% Objective + We propose / we consider : (1) ... and (2) ... % Objective + We propose / we consider : (1) ... and (2) ...
@@ -323,7 +323,7 @@ However, the rendering of these textures in an immersive and natural visuo-hapti
Our third objective is to evaluate the perception of simultaneous and co-localized visuo-haptic texture augmentation of tangible surfaces in AR, directly touched by the hand, and to understand to what extent each sensory modality contributes to the overall perception of the augmented texture. Our third objective is to evaluate the perception of simultaneous and co-localized visuo-haptic texture augmentation of tangible surfaces in AR, directly touched by the hand, and to understand to what extent each sensory modality contributes to the overall perception of the augmented texture.
\subsectionstartoc{Improving Virtual Object Interaction with Visuo-Haptic Augmentations of the Hand} \subsectionstarbookmark{Improving Virtual Object Interaction with Visuo-Haptic Augmentations of the Hand}
In immersive and wearable visuo-haptic AR, the hand is free to touch and interact seamlessly with real, augmented, and virtual objects, and one can expect natural and direct contact and manipulation of VOs with the bare hand. In immersive and wearable visuo-haptic AR, the hand is free to touch and interact seamlessly with real, augmented, and virtual objects, and one can expect natural and direct contact and manipulation of VOs with the bare hand.
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Our last objective is to investigate the role of visuo-haptic augmentations of the hand in manipulating VOs directly with the hand in AR. Our last objective is to investigate the role of visuo-haptic augmentations of the hand in manipulating VOs directly with the hand in AR.
\sectionstartoc{Thesis Overview} \section{Thesis Overview}
%Present the contributions and structure of the thesis. %Present the contributions and structure of the thesis.