From 65de33bb60ab982090d0be91a532d0eee369b832 Mon Sep 17 00:00:00 2001 From: Erwan Normand Date: Thu, 27 Jun 2024 17:52:03 +0200 Subject: [PATCH] Replace \citeauthorcite => \textcite --- 1-introduction/related-work/1-hands.tex | 20 +++++++++---------- 1-introduction/related-work/2-vr.tex | 20 +++++++++---------- 2-perception/xr-perception/2-related-work.tex | 20 +++++++++---------- 2-perception/xr-perception/3-method.tex | 4 ++-- 2-perception/xr-perception/4-experiment.tex | 6 +++--- 2-perception/xr-perception/6-discussion.tex | 4 ++-- 3-manipulation/visual-hand/2-method.tex | 6 +++--- 3-manipulation/visual-hand/4-discussion.tex | 8 ++++---- 8 files changed, 44 insertions(+), 44 deletions(-) diff --git a/1-introduction/related-work/1-hands.tex b/1-introduction/related-work/1-hands.tex index 13693d9..4c13f80 100644 --- a/1-introduction/related-work/1-hands.tex +++ b/1-introduction/related-work/1-hands.tex @@ -26,27 +26,27 @@ In VR, as the user is fully immersed in the virtual environment and cannot see t % It is known that the virtual hand representation has an impact on perception, interaction performance, and preference of users~\cite{prachyabrued2014visual, argelaguet2016role, grubert2018effects, schwind2018touch}. % -In a pick-and-place task in VR, \citeauthorcite{prachyabrued2014visual} found that the virtual hand representation whose motion was constrained to the surface of the virtual objects performed the worst, while the virtual hand representation following the tracked human hand (thus penetrating the virtual objects), performed the best, even though it was rather disliked. +In a pick-and-place task in VR, \textcite{prachyabrued2014visual} found that the virtual hand representation whose motion was constrained to the surface of the virtual objects performed the worst, while the virtual hand representation following the tracked human hand (thus penetrating the virtual objects), performed the best, even though it was rather disliked. % The authors also observed that the best compromise was a double rendering, showing both the tracked hand and a hand rendering constrained by the virtual environment. % It has also been shown that over a realistic avatar, a skeleton rendering (similar to \figref{hands-skeleton}) can provide a stronger sense of being in control~\cite{argelaguet2016role} and that minimalistic fingertip rendering (similar to \figref{hands-tips}) can be more effective in a typing task~\cite{grubert2018effects}. -In AR, as the real hand of a user is visible but not physically constrained by the virtual environment, adding a visual hand rendering that can physically interact with virtual objects would achieve a similar result to the promising double-hand rendering of \citeauthorcite{prachyabrued2014visual}. +In AR, as the real hand of a user is visible but not physically constrained by the virtual environment, adding a visual hand rendering that can physically interact with virtual objects would achieve a similar result to the promising double-hand rendering of \textcite{prachyabrued2014visual}. % -Additionally, \citeauthorcite{kahl2021investigation} showed that a virtual object overlaying a tangible object in OST-AR can vary in size without worsening the users' experience nor the performance. +Additionally, \textcite{kahl2021investigation} showed that a virtual object overlaying a tangible object in OST-AR can vary in size without worsening the users' experience nor the performance. % This suggests that a visual hand rendering superimposed on the real hand could be helpful, but should not impair users. Few works have explored the effect of visual hand rendering in AR~\cite{blaga2017usability, maisto2017evaluation, krichenbauer2018augmented, yoon2020evaluating, saito2021contact}. % -For example, \citeauthorcite{blaga2017usability} evaluated a skeleton rendering in several virtual object manipulations against no visual hand overlay. +For example, \textcite{blaga2017usability} evaluated a skeleton rendering in several virtual object manipulations against no visual hand overlay. % Performance did not improve, but participants felt more confident with the virtual hand. % However, the experiment was carried out on a screen, in a non-immersive AR scenario. % -\citeauthorcite{saito2021contact} found that masking the real hand with a textured 3D opaque virtual hand did not improve performance in a reach-to-grasp task but displaying the points of contact on the virtual object did. +\textcite{saito2021contact} found that masking the real hand with a textured 3D opaque virtual hand did not improve performance in a reach-to-grasp task but displaying the points of contact on the virtual object did. % To the best of our knowledge, evaluating the role of a visual rendering of the hand displayed \enquote{and seen} directly above real tracked hands in immersive OST-AR has not been explored, particularly in the context of virtual object manipulation. @@ -61,11 +61,11 @@ wearable haptic devices~\cite{pacchierotti2016hring, lopes2018adding, pezent2019 Wearable haptics seems particularly suited for this context, as it takes into account many of the AR constraints, \eg limited impact on hand tracking performance and reduced impairment of the senses and ability of the users to interact with real content~\cite{pacchierotti2016hring, maisto2017evaluation, lopes2018adding, meli2018combining, pezent2019tasbi, teng2021touch, kourtesis2022electrotactile, marchal2022virtual}. % -For example, \citeauthorcite{pacchierotti2016hring} designed a haptic ring providing pressure and skin stretch sensations to be worn at the proximal finger phalanx, so as to improve the hand tracking during a pick-and-place task. +For example, \textcite{pacchierotti2016hring} designed a haptic ring providing pressure and skin stretch sensations to be worn at the proximal finger phalanx, so as to improve the hand tracking during a pick-and-place task. % -\citeauthorcite{pezent2019tasbi} proposed Tasbi: a wristband haptic device capable of rendering vibrations and pressures. +\textcite{pezent2019tasbi} proposed Tasbi: a wristband haptic device capable of rendering vibrations and pressures. % -\citeauthorcite{teng2021touch} presented Touch\&Fold, a haptic device attached to the nail that provides pressure and texture sensations when interacting with virtual content, but also folds away when the user interacts with real objects, leaving the fingertip free. +\textcite{teng2021touch} presented Touch\&Fold, a haptic device attached to the nail that provides pressure and texture sensations when interacting with virtual content, but also folds away when the user interacts with real objects, leaving the fingertip free. % This approach was also perceived as more realistic than providing sensations directly on the nail, as in~\cite{ando2007fingernailmounted}. % @@ -75,11 +75,11 @@ If it is indeed necessary to delocalize the haptic feedback, each of these posit Conjointly, a few studies have explored and compared the effects of visual and haptic feedback in tasks involving the manipulation of virtual objects with the hand. % -\citeauthorcite{sarac2022perceived} and \citeauthorcite{palmer2022haptic} studied the effects of providing haptic feedback about contacts at the fingertips using haptic devices worn at the wrist, testing different mappings. +\textcite{sarac2022perceived} and \textcite{palmer2022haptic} studied the effects of providing haptic feedback about contacts at the fingertips using haptic devices worn at the wrist, testing different mappings. % Results proved that moving the haptic feedback away from the point(s) of contact is possible and effective, and that its impact is more significant when the visual feedback is limited. % -In pick-and-place tasks in AR involving both virtual and real objects, \citeauthorcite{maisto2017evaluation} and \citeauthorcite{meli2018combining} showed that having a haptic {rendering of the} fingertip interactions with the virtual objects led to better performance and perceived effectiveness than having only a visual rendering of the hand, similar to \figref{hands-tips}. +In pick-and-place tasks in AR involving both virtual and real objects, \textcite{maisto2017evaluation} and \textcite{meli2018combining} showed that having a haptic {rendering of the} fingertip interactions with the virtual objects led to better performance and perceived effectiveness than having only a visual rendering of the hand, similar to \figref{hands-tips}. % Moreover, employing the haptic ring of~\cite{pacchierotti2016hring} on the proximal finger phalanx led to an improved performance with respect to more standard fingertip haptic devices~\cite{chinello2020modular}. % diff --git a/1-introduction/related-work/2-vr.tex b/1-introduction/related-work/2-vr.tex index b3badfb..70a4eb3 100644 --- a/1-introduction/related-work/2-vr.tex +++ b/1-introduction/related-work/2-vr.tex @@ -20,7 +20,7 @@ It might be therefore interesting to study how haptic and visual augmentations o An additional challenge in AR is to let the hand of the user free to touch, feel, and interact with the real objects~\autocite{maisto2017evaluation,detinguy2018enhancing,teng2021touch}. % -For example, mounted on the nail, the haptic device of \citeauthorcite{teng2021touch} can be quickly unfolded on demand to the fingertip to render haptic feedback of virtual objects. +For example, mounted on the nail, the haptic device of \textcite{teng2021touch} can be quickly unfolded on demand to the fingertip to render haptic feedback of virtual objects. % It is however not suitable for rendering haptic feedback when touching real objects. % @@ -83,11 +83,11 @@ However, as they can be difficult to tune, measurement-based models have been de % In this work, we employed such data-driven haptic models to augment and studied the visuo-haptic texture perception of tangible surfaces in AR.%\CP{Here the original sentence was: ``We use these data-driven haptic models to augment [...].''. It was not clear what ``we use'' meant. Check that the new sentence is correct.} -To evaluate the perception of virtual haptic textures, the same psycho-physical methods as for real materials are often used, as described by \citeauthorcite{okamoto2013psychophysical}. +To evaluate the perception of virtual haptic textures, the same psycho-physical methods as for real materials are often used, as described by \textcite{okamoto2013psychophysical}. % -For example, when comparing the same virtual texture pairwise, but with different parameters, \citeauthorcite{culbertson2015should} showed that the roughness vibrations generated should vary with user speed, but not necessarily with user force. +For example, when comparing the same virtual texture pairwise, but with different parameters, \textcite{culbertson2015should} showed that the roughness vibrations generated should vary with user speed, but not necessarily with user force. % -Similarly, \citeauthorcite{culbertson2014modeling} compared the similarity of all possible pairs between five real textures and their data-driven virtual equivalents, and rated their perceived properties in terms of hardness, roughness, friction, and smoothness. +Similarly, \textcite{culbertson2014modeling} compared the similarity of all possible pairs between five real textures and their data-driven virtual equivalents, and rated their perceived properties in terms of hardness, roughness, friction, and smoothness. % Virtual data-driven textures were perceived as similar to real textures, except for friction, which was not rendered properly. % @@ -100,34 +100,34 @@ In this user study, participants matched the pairs of visual and haptic textures A few studies have explored vibrotactile haptic devices worn directly on the finger to render virtual textures on real surfaces. % -\citeauthorcite{ando2007fingernailmounted} mounted a vibrotactile actuator on the index nail, which generated impulse vibrations to render virtual edges and gaps on a real surface. +\textcite{ando2007fingernailmounted} mounted a vibrotactile actuator on the index nail, which generated impulse vibrations to render virtual edges and gaps on a real surface. % %This rendering method was compared later to providing the vibrations with pressure directly on the fingertip in AR and was found more realistic to render virtual objects and textures~\autocite{teng2021touch}. % %Covering the fingertip is however not suitable for rendering haptic feedback when touching real objects. % -Using a voice-coil actuator worn on the middle index phalanx, \citeauthorcite{asano2015vibrotactile} altered the roughness perception of a grating surface with a \qty{250}{\Hz} vibrotactile stimulus. +Using a voice-coil actuator worn on the middle index phalanx, \textcite{asano2015vibrotactile} altered the roughness perception of a grating surface with a \qty{250}{\Hz} vibrotactile stimulus. % Small amplitudes as a function of finger speed increased perceived roughness, whereas large constant amplitudes decreased it. % We used a similar approach, but to augment in AR the visuo-haptic texture perception of \emph{real} surfaces. -%As alternative, \citeauthorcite{teng2021touch} have designed a wearable haptic device specifically for AR scenarios mounted on the nail that can unfold on demand on the finger pad.% +%As alternative, \textcite{teng2021touch} have designed a wearable haptic device specifically for AR scenarios mounted on the nail that can unfold on demand on the finger pad.% %While it as been perceived more realistic in rendering virtual textures, covering the finger pad is only suitable for rendering mid-air virtual objects. %[[chan2021hasti]] tried to combine homogenous textures with patterned textures with vibrotactile in VR. When the same object property is sensed simultaneously by vision and touch, the two modalities are integrated into one single perception. % -The well-known phycho-physical model of \citeauthorcite{ernst2002humans} established that the sense with the least variability dominates perception. +The well-known phycho-physical model of \textcite{ernst2002humans} established that the sense with the least variability dominates perception. % This effect has been used to alter the texture perception in AR and VR. % For example, superimposed virtual visual opaque textures on real surfaces in AR can be perceived as coherent together even though they have very different roughnesses~\autocite{kitahara2010sensory}. % -\citeauthorcite{fradin2023humans} explored this effect further, finding that a superimposed AR visual texture slightly different from a colocalized haptic texture affected the ability to recognize the haptic texture. +\textcite{fradin2023humans} explored this effect further, finding that a superimposed AR visual texture slightly different from a colocalized haptic texture affected the ability to recognize the haptic texture. % -Similarly, \citeauthorcite{punpongsanon2015softar} altered the softness perception of a tangible surface using AR-projected visual textures whereas \citeauthorcite{chan2021hasti} evaluated audio-haptic texture perception in VR. +Similarly, \textcite{punpongsanon2015softar} altered the softness perception of a tangible surface using AR-projected visual textures whereas \textcite{chan2021hasti} evaluated audio-haptic texture perception in VR. % Conversely, colocalized 3D-printed real hair structures were able to correctly render several virtual visual textures seen in VR in terms of haptic hardness and roughness~\autocite{degraen2019enhancing}. % diff --git a/2-perception/xr-perception/2-related-work.tex b/2-perception/xr-perception/2-related-work.tex index 93d5768..ce161b5 100644 --- a/2-perception/xr-perception/2-related-work.tex +++ b/2-perception/xr-perception/2-related-work.tex @@ -21,7 +21,7 @@ When running a finger over a surface, the deformations and vibrations of the ski % %In this way, physics-based models~\autocite{chan2021hasti,okamura1998vibration} and data-based models~\autocite{culbertson2015should,romano2010automatic} have been developed and evaluated, the former being simpler but more approximate to real textures, and the latter being more realistic but limited to the captured textures. % -%Notably, \citeauthorcite{okamura1998vibration} rendered grating textures with exponentially decaying sinudoids that simulated the strokes of the grooves and ridges of the surface, while \citeauthorcite{culbertson2014modeling} captured and modelled the roughness of real surfaces to render them using the speed and force of the user. +%Notably, \textcite{okamura1998vibration} rendered grating textures with exponentially decaying sinudoids that simulated the strokes of the grooves and ridges of the surface, while \textcite{culbertson2014modeling} captured and modelled the roughness of real surfaces to render them using the speed and force of the user. % An effective approach to rendering virtual roughness is to generate vibrations to simulate interaction with the virtual texture~\autocite{culbertson2018haptics}, relying on the user's real-time measurements of position, velocity and force. % to modulate the frequencies and amplitudes of the vibrations, with position and velocity being the most important parameters~\autocite{culbertson2015should}. % @@ -52,19 +52,19 @@ It remains unclear whether such vibrotactile texture augmentation is perceived t When the same object property is sensed simultaneously by vision and touch, the two modalities are integrated into a single perception. % -The phychophysical model of \citeauthorcite{ernst2002humans} established that the sense with the least variability dominates perception. +The phychophysical model of \textcite{ernst2002humans} established that the sense with the least variability dominates perception. % %In particular, this effect has been used to better understand the visuo-haptic perception of texture and to design better feedback for virtual objects. Particularly for real textures, it is known that both touch and sight individually perceive textures equally well and similarly~\autocite{bergmanntiest2007haptic,baumgartner2013visual,vardar2019fingertip}. % -Thus, the overall perception can be modified by changing one of the modalities, as shown by \citeauthorcite{yanagisawa2015effects}, who altered the perception of roughness, stiffness and friction of some real tactile textures touched by the finger by superimposing different real visual textures using a half-mirror. +Thus, the overall perception can be modified by changing one of the modalities, as shown by \textcite{yanagisawa2015effects}, who altered the perception of roughness, stiffness and friction of some real tactile textures touched by the finger by superimposing different real visual textures using a half-mirror. % -%Similarly but in VR, \citeauthorcite{degraen2019enhancing} combined visual textures with different passive haptic hair-like structure that were touched with the finger to induce a larger set of visuo-haptic materials perception. +%Similarly but in VR, \textcite{degraen2019enhancing} combined visual textures with different passive haptic hair-like structure that were touched with the finger to induce a larger set of visuo-haptic materials perception. % -%\citeauthorcite{gunther2022smooth} studied in a complementary way how the visual rendering of a virtual object touching the arm with a tangible object influenced the perception of roughness. +%\textcite{gunther2022smooth} studied in a complementary way how the visual rendering of a virtual object touching the arm with a tangible object influenced the perception of roughness. Likewise, visual textures were combined in VR with various tangible objects to induce a larger set of visuo-haptic material perceptions, in both active touch~\autocite{degraen2019enhancing} and passive touch~\autocite{gunther2022smooth} contexts. % -\citeauthorcite{normand2024augmenting} also investigated the roughness perception of tangible surfaces touched with the finger and augmented with visual textures in AR and with wearable vibrotactile textures. +\textcite{normand2024augmenting} also investigated the roughness perception of tangible surfaces touched with the finger and augmented with visual textures in AR and with wearable vibrotactile textures. % %A common finding of these studies is that haptic sensations seem to dominate the perception of roughness, suggesting that a smaller set of haptic textures can support a larger set of visual textures. % @@ -82,18 +82,18 @@ The vibrotactile sinusoidal rendering of virtual texture cited above was also co % %However, the visual representation was a virtual cursor seen on a screen while the haptic feedback was felt with a hand-held device. % -%Conversely, as discussed by \citeauthorcite{ujitoko2021survey} in their review, a co-localised visuo-haptic rendering can cause the user to notice the mismatch between their real movements and the visuo-haptic feedback. +%Conversely, as discussed by \textcite{ujitoko2021survey} in their review, a co-localised visuo-haptic rendering can cause the user to notice the mismatch between their real movements and the visuo-haptic feedback. % Even before manipulating a visual representation to induce a haptic sensation, shifts and latencies between user input and co-localised visuo-haptic feedback can be experienced differently in AR and VR, which we aim to investigate in this work. %it remains unclear whether touching the same tactile texture augmentation in immersive AR or VR with one's own hand or with a virtual hand can be perceived differently. A few studies specifically compared visuo-haptic perception in AR \vs VR. % -Rendering a virtual piston pressed with one's real hand using a video see-through (VST) AR headset and a force feedback haptic device, \citeauthorcite{diluca2011effects} showed that a visual delay increased the perceived stiffness of the piston, whereas a haptic delay decreased it. +Rendering a virtual piston pressed with one's real hand using a video see-through (VST) AR headset and a force feedback haptic device, \textcite{diluca2011effects} showed that a visual delay increased the perceived stiffness of the piston, whereas a haptic delay decreased it. % -%\citeauthorcite{diluca2011effects} went on to explain how these delays affected the weighting of visual and haptic information in perceived stiffness. +%\textcite{diluca2011effects} went on to explain how these delays affected the weighting of visual and haptic information in perceived stiffness. % -In a similar setup, but with an optical see-through (OST) AR headset, \citeauthorcite{gaffary2017ar} found that the virtual piston was perceived as less stiff in AR than in VR, without participants noticing this difference. +In a similar setup, but with an optical see-through (OST) AR headset, \textcite{gaffary2017ar} found that the virtual piston was perceived as less stiff in AR than in VR, without participants noticing this difference. % Using a VST-AR headset have notable consequences, as the "real" view of the environment and the hand is actually a visual stream from a camera, which has a noticeable delay and lower quality (\eg resolution, frame rate, field of view) compared to the direct view of the real environment with OST-AR~\autocite{macedo2023occlusion}. % diff --git a/2-perception/xr-perception/3-method.tex b/2-perception/xr-perception/3-method.tex index e5e1e97..3d87dd2 100644 --- a/2-perception/xr-perception/3-method.tex +++ b/2-perception/xr-perception/3-method.tex @@ -72,7 +72,7 @@ To reduce the noise the pose estimation while maintaining a good responsiveness, % It is a low-pass filter with an adaptive cutoff frequency, specifically designed for tracking human motion. % -The optimal filter parameters were determined using the method of \citeauthorcite{casiez2012filter}, with a minimum cutoff frequency of \qty{10}{\hertz} and a slope of \num{0.01}. +The optimal filter parameters were determined using the method of \textcite{casiez2012filter}, with a minimum cutoff frequency of \qty{10}{\hertz} and a slope of \num{0.01}. % The velocity of the marker is estimated using the discrete derivative of the position and an other 1€ filter with the same parameters. @@ -137,7 +137,7 @@ However, when a new finger position is estimated at time $t_j$, the phase $\phi_ % This approach avoids sudden changes in the actuator movement thus affecting the texture perception in an uncontrolled way (see \figref{method/phase_adjustment}) and, contrary to previous work~\autocite{asano2015vibrotactile,friesen2024perceived}, it enables no constraints a free exploration of the texture by the user with no constraints on the finger speed. % -Finally, as \citeauthorcite{ujitoko2019modulating}, a square wave is chosen over a sine wave to get a rendering closer to a real grating texture with the sensation of crossing edges, and because the roughness perception of sine wave textures has been shown not to reproduce the roughness perception of real grating textures~\autocite{unger2011roughness}. +Finally, as \textcite{ujitoko2019modulating}, a square wave is chosen over a sine wave to get a rendering closer to a real grating texture with the sensation of crossing edges, and because the roughness perception of sine wave textures has been shown not to reproduce the roughness perception of real grating textures~\autocite{unger2011roughness}. % %And secondly, to be able to render low frequencies that occurs when the finger moves slowly or the texture period is large, as the actuator cannot render frequencies below \qty{\approx 20}{\Hz} with enough amplitude to be perceived with a pure sine wave signal. % diff --git a/2-perception/xr-perception/4-experiment.tex b/2-perception/xr-perception/4-experiment.tex index 1f199e4..ea34509 100644 --- a/2-perception/xr-perception/4-experiment.tex +++ b/2-perception/xr-perception/4-experiment.tex @@ -52,7 +52,7 @@ They all signed an informed consent form before the user study and were unaware \subsection{Apparatus} \label{sec:apparatus} -An experimental environment similar as \citeauthorcite{gaffary2017ar} was created to ensure a similar visual rendering in AR and VR (see \figref{renderings}). +An experimental environment similar as \textcite{gaffary2017ar} was created to ensure a similar visual rendering in AR and VR (see \figref{renderings}). % It consisted of a \qtyproduct{300 x 210 x 400}{\mm} medium-density fibreboard (MDF) box with a paper sheet glued inside, and a \qtyproduct{15 x 5}{\mm} rectangle printed on the sheet to delimit the area where the tactile textures were rendered. % @@ -64,7 +64,7 @@ Participants rated the roughness of the paper (without any texture augmentation) %f The virtual environment was carefully reproducing the real environment including the geometry of the box, the textures, the lighting, and the shadows (see \figref{renderings}, \level{Virtual}). % -The virtual hand model was a gender-neutral human right hand with realistic skin texture, similar to the one used by \citeauthorcite{schwind2017these}. +The virtual hand model was a gender-neutral human right hand with realistic skin texture, similar to the one used by \textcite{schwind2017these}. % Its size was adjusted to match the real hand of the participants before the experiment. % @@ -173,7 +173,7 @@ After each \factor{Visual Rendering} block of trials, participants rated their e % %They also assessed their workload with the NASA Task Load Index (\textit{NASA-TLX}) questionnaire after each blocks of trials. % -For all questions, participants were shown only labels (\eg \enquote{Not at all} or \enquote{Extremely}) and not the actual scale values (\eg 1 or 5), following the recommendations of \citeauthorcite{muller2014survey}. +For all questions, participants were shown only labels (\eg \enquote{Not at all} or \enquote{Extremely}) and not the actual scale values (\eg 1 or 5), following the recommendations of \textcite{muller2014survey}. \newcommand{\scalegroup}[2]{\multirow{#1}{1\linewidth}{#2}} \begin{tabwide}{questions}{% diff --git a/2-perception/xr-perception/6-discussion.tex b/2-perception/xr-perception/6-discussion.tex index e124fe0..76b7649 100644 --- a/2-perception/xr-perception/6-discussion.tex +++ b/2-perception/xr-perception/6-discussion.tex @@ -10,7 +10,7 @@ The results showed a difference in vibrotactile roughness perception between the % Given the estimated point of subjective equality (PSE), the textures in the \level{Real} rendering were on average perceived as \enquote{rougher} than in the \level{Virtual} (\percent{-2.8}) and \level{Mixed} (\percent{-6.0}) renderings (see \figref{results/trial_pses}). % -\citeauthorcite{gaffary2017ar} found a PSE difference in the same range between AR and VR for perceived stiffness, with the VR perceived as \enquote{stiffer} and the AR as \enquote{softer}. +\textcite{gaffary2017ar} found a PSE difference in the same range between AR and VR for perceived stiffness, with the VR perceived as \enquote{stiffer} and the AR as \enquote{softer}. % %However, the difference between the \level{Virtual} and \level{Mixed} conditions was not significant. % @@ -48,7 +48,7 @@ Conversely, when interacting with a real texture, there is no lag between any of % Thereby, we hypothesise that the differences in the perception of vibrotactile roughness are less due to the visual rendering of the hand or environment and their associated difference in exploration behaviour, but rather to the difference in the perceived latency between one's own hand (visually and proprioceptively) and the virtual hand (visually and haptically). % -\citeauthorcite{diluca2011effects} demonstrated, in a VST-AR setup, how visual latency relative to proprioception increased the perception of stiffness of a virtual piston, while haptic latency decreased it. +\textcite{diluca2011effects} demonstrated, in a VST-AR setup, how visual latency relative to proprioception increased the perception of stiffness of a virtual piston, while haptic latency decreased it. % Another complementary explanation could be a pseudo-haptic effect of the displacement of the virtual hand, as already observed with this vibrotactile texture rendering, but seen on a screen in a non-immersive context~\autocite{ujitoko2019modulating}. % diff --git a/3-manipulation/visual-hand/2-method.tex b/3-manipulation/visual-hand/2-method.tex index 693d634..0c9d0f2 100644 --- a/3-manipulation/visual-hand/2-method.tex +++ b/3-manipulation/visual-hand/2-method.tex @@ -87,7 +87,7 @@ It can be seen as a filled version of the Contour hand rendering, thus partially \subfig[0.23]{3-task-grasp}[Grasp task] \end{subfigs} -Following the guidelines of \citeauthorcite{bergstrom2021how} for designing object manipulation tasks, we considered two variations of a 3D pick-and-place task, commonly found in interaction and manipulation studies~\cite{prachyabrued2014visual, maisto2017evaluation, meli2018combining, blaga2017usability, vanveldhuizen2021effect}. +Following the guidelines of \textcite{bergstrom2021how} for designing object manipulation tasks, we considered two variations of a 3D pick-and-place task, commonly found in interaction and manipulation studies~\cite{prachyabrued2014visual, maisto2017evaluation, meli2018combining, blaga2017usability, vanveldhuizen2021effect}. \subsubsection{Push Task} @@ -163,7 +163,7 @@ The hand tracking information provided by MRTK was used to construct a virtual a % It featured 25 DoFs, including the fingers proximal, middle, and distal phalanges. % -To allow effective (and stable) physical interactions between the hand and the virtual cube to manipulate, we implemented an approach similar to that of \citeauthorcite{borst2006spring}, where a series of virtual springs with high stiffness are used to couple the physics-enabled hand with the tracked hand. +To allow effective (and stable) physical interactions between the hand and the virtual cube to manipulate, we implemented an approach similar to that of \textcite{borst2006spring}, where a series of virtual springs with high stiffness are used to couple the physics-enabled hand with the tracked hand. % As before, a set of empirical tests have been used to select the most effective physical characteristics in terms of mass, elastic constant, friction, damping, colliders size, and shape for the (tracked) virtual hand interaction model. @@ -207,7 +207,7 @@ Participants signed an informed consent, including the declaration of having no \subsection{Collected Data} \label{3_metrics} -Inspired by \citeauthorcite{laviolajr20173d}, we collected the following metrics during the experiment. +Inspired by \textcite{laviolajr20173d}, we collected the following metrics during the experiment. % (i) The task \emph{Completion Time}, defined as the time elapsed between the very first contact with the virtual cube and its correct placement inside the target volume; as subjects were asked to complete the tasks as fast as possible, lower completion times mean better performance. % diff --git a/3-manipulation/visual-hand/4-discussion.tex b/3-manipulation/visual-hand/4-discussion.tex index 311f29c..96c1014 100644 --- a/3-manipulation/visual-hand/4-discussion.tex +++ b/3-manipulation/visual-hand/4-discussion.tex @@ -19,9 +19,9 @@ Interestingly, all visual hand renderings showed grip apertures very close to th % Having no visual hand rendering, but only the reaction of the cube to the interaction as feedback, made participants less confident in their grip. % -This result contrasts with the wrongly estimated grip apertures observed by \citeauthorcite{al-kalbani2016analysis} in an exocentric VST-AR setup. +This result contrasts with the wrongly estimated grip apertures observed by \textcite{al-kalbani2016analysis} in an exocentric VST-AR setup. % -Also, while some participants found the absence of visual hand rendering more natural, many of them commented on the importance of having feedback on the tracking of their hands, as observed by \citeauthorcite{xiao2018mrtouch} in a similar immersive OST-AR setup. +Also, while some participants found the absence of visual hand rendering more natural, many of them commented on the importance of having feedback on the tracking of their hands, as observed by \textcite{xiao2018mrtouch} in a similar immersive OST-AR setup. Yet, participants' opinions of the visual hand renderings were mixed on many questions, except for the Occlusion one, which was perceived less effective than more \enquote{complete} visual hands such as Contour, Skeleton, and Mesh hands (see \figref{3_questions}). % @@ -33,7 +33,7 @@ Many participants reported difficulties in seeing the orientation of the visual % while others found that it gave them a better sense of the contact points and improved their concentration on the task. % -This result are consistent with \citeauthorcite{saito2021contact}, who found that displaying the points of contacts was beneficial for grasping a virtual object over an opaque visual hand overlay. +This result are consistent with \textcite{saito2021contact}, who found that displaying the points of contacts was beneficial for grasping a virtual object over an opaque visual hand overlay. To summarize, when employing a visual hand rendering overlaying the real hand, participants were more performant and confident in manipulating virtual objects with bare hands in AR. % @@ -43,7 +43,7 @@ Our results show the most effective visual hand rendering to be the Skeleton one % Although the Contour and Mesh hand renderings were also highly rated, some participants felt that they were too visible and masked the real hand. % -This result is in line with the results of virtual object manipulation in VR of \citeauthorcite{prachyabrued2014visual}, who found that the most effective visual hand rendering was a double representation of both the real tracked hand and a visual hand physically constrained by the virtual environment. +This result is in line with the results of virtual object manipulation in VR of \textcite{prachyabrued2014visual}, who found that the most effective visual hand rendering was a double representation of both the real tracked hand and a visual hand physically constrained by the virtual environment. % This type of Skeleton rendering was also the one that provided the best sense of agency (control) in VR~\cite{argelaguet2016role, schwind2018touch}.