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Erwan Normand
2024-06-27 17:52:03 +02:00
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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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