erwan/phd-thesis
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Correct vhar system equations

Browse Source
This commit is contained in:
Erwan Normand
2024-11-12 18:40:55 +01:00
parent 3328d0a3c1
commit 592c0e90df
10 changed files with 39 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
3-perception/vhar-system/1-introduction.tex
View File

@@ -11,12 +11,12 @@ However, this method has not yet been integrated in an \AR context, where the us
In this chapter, we propose a \textbf{system for rendering visual and haptic virtual textures that augment real surfaces}.
It is implemented with an immersive \OST-\AR headset Microsoft HoloLens~2 and a wearable vibrotactile (voice-coil) device worn on the outside of finger (not covering the fingertip, \secref[related_work]{vhar_haptics}).
The visuo-haptic augmentations can be \textbf{viewed from any angle} and \textbf{explored freely with the bare finger}, as if they were real textures.
To ensure both real-time and reliable renderings, the hand and the real surfaces are tracked using a webcam and marker-based tracking.
To ensure both real-time and reliable renderings, the hand and the real surfaces are tracked using a webcam and marker-based pose estimation.
The haptic textures are rendered as a vibrotactile signal representing a patterned grating texture that is synchronized with the finger movement on the augmented surface.
\noindentskip The contributions of this chapter are:
\begin{itemize}
\item The rendering of virtual vibrotactile roughness textures representing a patterned grating texture in real time from free finger movements and using vision-based tracking.
\item The rendering of virtual vibrotactile roughness textures representing a patterned grating texture in real time from free finger movements and using vision-based finger pose estimation.
\item A system to provide a coherent visuo-haptic texture augmentations of the \RE in a direct touch context using an immersive \AR headset and wearable haptics.
\end{itemize}
@@ -26,7 +26,7 @@ The haptic textures are rendered as a vibrotactile signal representing a pattern
\begin{subfigs}{setup}{Visuo-haptic texture rendering system setup.}[][
\item HapCoil-One voice-coil actuator with a fiducial marker on top attached to the middle-phalanx of the user's index finger.
\item Our implementation of the system using a Microsoft HoloLens~2, a webcam for tracking the hand and the real surfaces, and an external computer for processing the tracking data and rendering the haptic textures.
\item Our implementation of the system using a Microsoft HoloLens~2, a webcam for estimating the poses the hand and the real surfaces, and an external computer for processing the tracking data and rendering the haptic textures.
]
\subfigsheight{60mm}
\subfig{device}