From 626c7645167b78f77c693a7c6d04b79d00375d84 Mon Sep 17 00:00:00 2001 From: Erwan Normand Date: Mon, 26 Aug 2024 18:40:38 +0200 Subject: [PATCH] wip --- .../related-work/1-wearable-haptics.tex | 19 +++++++---- .../related-work/figures/bullock2013grasp.jpg | Bin 0 -> 137797 bytes config/bibliography.tex | 1 - references.bib | 31 ++++++++++++++++++ 4 files changed, 43 insertions(+), 8 deletions(-) create mode 100644 1-introduction/related-work/figures/bullock2013grasp.jpg diff --git a/1-introduction/related-work/1-wearable-haptics.tex b/1-introduction/related-work/1-wearable-haptics.tex index c6b34c8..95388f8 100644 --- a/1-introduction/related-work/1-wearable-haptics.tex +++ b/1-introduction/related-work/1-wearable-haptics.tex @@ -112,14 +112,16 @@ Comme illustré dans la \figref{sensorimotor-continuum}, \textcite{jones2006huma L'ensemble des interactions possible de la main avec un objet est vaste et varié, \textcite{bullock2013handcentric} ont proposé une classification plus détaillée en 15 catégories. % -Dans cette thèse, nous nous intéressons aux détections haptiques actives d'augmentations visuo-haptiques (voir \partref{perception}) et à la préhension d'objets virtuels (voir \partref{manipulation}) dans le contexte de la RA et des wearable haptics. +Dans cette thèse, nous nous intéressons aux détections haptiques actives (\ie à l'exploration) d'augmentations visuo-haptiques (voir \partref{perception}) et à la préhension d'objets virtuels (voir \partref{manipulation}) dans le contexte de la RA et des wearable haptics. \paragraph{Hand Anatomy} -Pour comprendre la diversité des actions possibles de la main, il faut décrire brièvement son anatomie. En effet, sous la peau, la mise en action des muscles et des tendons est possible car ils prennent appuis sur les os. -Le squelette de la main, complexe et articulé, est composé de ... +Avant de comprendre comment la main est utilisée pour l'exploration et la préhension d'objets, il faut décrire brièvement son anatomie. En effet, sous la peau, la mise en action des muscles et des tendons est possible car ils prennent appuis sur les os. -\fig[0.45]{blausen2014medical_hand}{Schema of the hand skeleton. Adapted from~\cite{blausen2014medical}.} +Comme illustré sur la \figref{blausen2014medical_hand}, squelette de la main est composée de 27 os articulés. Le poignet, constitué de 8 os carpiens, relie la main au bras, et est à la base des 5 os métacarpiens de la paume, un pour chaque doigt. +Chaque doigt est composé d'une chaîne de 3 phalanges, proximale, moyenne et distale, à l'exception du pouce qui n'a que deux phalanges proximale et distale. + +\fig[0.42]{blausen2014medical_hand}{Schema of the hand skeleton. Adapted from~\cite{blausen2014medical}.} \paragraph{Exploratory Procedures} @@ -127,9 +129,12 @@ Le squelette de la main, complexe et articulé, est composé de ... La préhension d'un objet par la main est possible car celle-ci peut prendre de nombreuses postures grâce aux degrés de liberté de son squelette. En venant opposer le pouce ou la paume aux autres doigts (pad or palm grasps), ou encore les doigts entre eux comme pour tenir une cigarette (side grasp), la main peut tenir en sécurité l'objet~\cite{iberall1997human}. -La préhension varie donc selon la forme de l'objet et la tâche a réaliser, comme illustré par la figure xxx, 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, tandis que dans les préhensions de précision, la main peut effectuer des mouvements avec les doigts sur l'objet sans bouger le bras. Les préhensions mixtes combinent force et précision en égal proportion~\cite{feix2016grasp}. -Le nombre de types de préhension peut être classifié et réduit à 33 types~\cite{feix2016grasp}. Au quotidien ou au travail, ce nombre est même plus restreint pouvant aller entre 5 et 10 types de préhension selon l'activité~\cite{bullock2013grasp}. +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, tandis que dans les préhensions de précision, la main peut effectuer des mouvements avec les doigts sur l'objet sans bouger le bras. Les préhensions mixtes combinent force et précision en proportions égales~\cite{feix2016grasp}. + +Indépendamment de l'objet et de la tâche, le nombre de types de préhension peut être réduit à 33 types et classifié comme sur la comme illustré par la figure \figref{bullock2013grasp}~\cite{feix2016grasp}. Avec des objets de la vie de tous les jours, ce nombre est même plus restreint, entre 5 et 10 types de préhension selon l'activité~\cite{bullock2013grasp}. En outre, les bouts des doigts sont les zones de la main les plus impliquées, en terme de fréquence d'usage. En particulier, le pouce est pratiquement toujours utilisé, ainsi que l'index et le majeur, mais les autres doigts sont moins sollicités~\cite{gonzalez2014analysis}. Cela s'explique par la sensibilité des bouts des doigts (voir \secref{cutaneous_sensitivity}) et par la plus grande facilité d'opposer le pouce à l'index et au majeur que les autres doigts (voir \secref{hand_anatomy}). + +\fig[1]{bullock2013grasp}{Taxonomy of grap types of~\textcite{feix2016grasp}, classified in the columns according to their type (power, precision or intermediate), the opposition type (Opp row) and the number of opposing finger groups (virtual finger (VF) row). Illustration from~\cite{bullock2013grasp}.} \subsubsection{Object Properties} diff --git a/1-introduction/related-work/figures/bullock2013grasp.jpg b/1-introduction/related-work/figures/bullock2013grasp.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6131247075d7bf81f79a1209793a16a75be2965a GIT binary patch literal 137797 zcmdSB2Ut^GmoI+kAR@h&pfr^xQdJJQV zxc2ex;Fi$OD%q;uWSosXC z*sl5VA2@oCUEpNGtKvou8TAW9!RvlqdxT^)@N%SIqWz0xe@(Fa{~^i#k6{15TtmQK zCI)cun0NswuyZjh`XB)QGCrwR&+=qSNDn%Ws)pm~z@Qmfo8m!oBi|*u#UPD5-r)*8 zle^9QWsm9hiK!UieRbN*C3rufI=8 zndg1~9d%Y28XxE9DL0ADjOqHstT25~IuIE|6{7>0p>=d1f@_8jNMzF_XNYjxy{(@# z0c|wZum0IT`oUT>`3mJk5fVjl3nbK`CQVvHpy$1=Z+$a-O?gGQ$9L>((f8YaIzQXX zgS8jeCN238!jqU*NQ9F-=_M{!R}Wvn>3ALI)OX`lfSW`#XS4r7Kn++P@oh?K&|!B? z*`;%RRf z)Lf+lriu-tZ3MNI=nZ96!gypkDynjfsWR;%W@yeAZXiMj{PkYP6}v<=HiwNsg0CW0 zcD?ksfu2Wk(M}*v5$ds%7LewCoZid>)hFn;QO*PT(kfLK(W(9d;ep%oRUKG3EHar6 zaIRZQ){SmMp^>(w_ZDo=ES;V_fRj9 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author = {Bullock, Ian M. and Zheng, Joshua Z. and De La Rosa, Sara and Guertler, Charlotte and Dollar, Aaron M.}, + date = {2013}, + journaltitle = {IEEE Trans. Haptics}, + volume = {6}, + number = {3}, + pages = {296--308}, + doi = {10/f482vj} +} + @article{bullock2013handcentric, title = {A {{Hand-Centric Classification}} of {{Human}} and {{Robot Dexterous Manipulation}}}, author = {Bullock, Ian M. and Ma, Raymond R. and Dollar, Aaron M.}, @@ -589,6 +600,15 @@ doi = {10/gfz8mx} } +@inproceedings{cutkosky1986modeling, + title = {Modeling Manufacturing Grips and Correlations with the Design of Robotic Hands}, + booktitle = {{{IEEE Int}}. {{Conf}}. {{Robot}}. {{Autom}}.}, + author = {Cutkosky, Mark R. and Wright, P.}, + date = {1986}, + pages = {1533--1539}, + doi = {10/dsg4h5} +} + @inproceedings{dariosecq2020investigating, title = {Investigating the {{Semantic Perceptual Space}} of {{Synthetic Textures}} on an {{Ultrasonic}} Based {{Haptic Tablet}}}, booktitle = {Int. {{Jt}}. {{Conf}}. {{Comput}}. {{Vis}}. {{Imaging Comput}}. {{Graph}}. {{Theory Appl}}.}, @@ -836,6 +856,17 @@ doi = {10/gkghs9} } +@article{gonzalez2014analysis, + title = {Analysis of {{Hand Contact Areas}} and {{Interaction Capabilities During Manipulation}} and {{Exploration}}}, + author = {Gonzalez, Franck and Gosselin, Florian and Bachta, Wael}, + date = {2014}, + journaltitle = {IEEE Trans. Haptics}, + volume = {7}, + number = {4}, + pages = {415--429}, + doi = {10/f6xwn9} +} + @article{greenspon2020effect, title = {Effect of Scanning Speed on Texture-Elicited Vibrations}, author = {Greenspon, Charles M. and McLellan, Kristine R. and Lieber, Justin D. and Bensmaia, Sliman J.},