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Erwan Normand
2024-06-27 17:52:03 +02:00
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6
3-manipulation/visual-hand/2-method.tex
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@@ -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
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It featured 25 DoFs, including the fingers proximal, middle, and distal phalanges.
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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.
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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.
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(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.
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3-manipulation/visual-hand/4-discussion.tex
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@@ -19,9 +19,9 @@ Interestingly, all visual hand renderings showed grip apertures very close to th
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Having no visual hand rendering, but only the reaction of the cube to the interaction as feedback, made participants less confident in their grip.
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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.
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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}).
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@@ -33,7 +33,7 @@ Many participants reported difficulties in seeing the orientation of the visual
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while others found that it gave them a better sense of the contact points and improved their concentration on the task.
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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.
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@@ -43,7 +43,7 @@ Our results show the most effective visual hand rendering to be the Skeleton one
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Although the Contour and Mesh hand renderings were also highly rated, some participants felt that they were too visible and masked the real hand.
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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.
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This type of Skeleton rendering was also the one that provided the best sense of agency (control) in VR~\cite{argelaguet2016role, schwind2018touch}.