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@@ -17,14 +17,14 @@ It is also one of the most known haptic augmentation, but it had not yet been in
%We designed wearable visuo-haptic texture augmentations and evaluated how the degree of virtuality and the rendering of the visuals influenced the perception of the haptic textures.
We \textbf{(1)} proposed a \textbf{wearable visuo-haptic texture augmentation system}, \textbf{(2)} evaluated how the perception of haptic textures is \textbf{affected by the visual virtuality of the hand} and the environment (real, augmented, or virtual), and \textbf{(3)} investigated the \textbf{perception of co-localized visuo-haptic texture augmentations}.
\noindentskip In \chapref{vhar_system},
In \chapref{vhar_system},
\noindentskip In \chapref{xr_perception} we explored how the perception of wearable haptic augmented textures is affected by the visual virtuality of the hand and the environment, whether it is real, augmented or virtual.
In \chapref{xr_perception} we explored how the perception of wearable haptic augmented textures is affected by the visual virtuality of the hand and the environment, whether it is real, augmented or virtual.
We augmented the perceived roughness of the tangible surface with virtual vibrotactile patterned textures, and rendered the visual conditions by switching the \OST-\AR headset to a \VR-only view.
We then conducted a psychophysical user study with 20 participants and extensive questionnaires to evaluate the perceived roughness augmentation in these three visual conditions.
The textures were perceived as \textbf{rougher when touched with the real hand alone compared to a virtual hand} in either \AR or \VR, possibly due to the \textbf{perceived latency} between finger movements and different visual, haptic, and proprioceptive feedbacks.
\noindentskip In \chapref{vhar_textures}, we investigated the perception of co-localized visual and wearable haptic texture augmentations on tangible surfaces.
In \chapref{vhar_textures}, we investigated the perception of co-localized visual and wearable haptic texture augmentations on tangible surfaces.
We transposed the \textbf{data-driven visuo-haptic textures} from the \HaTT database to the system presented in \chapref{vhar_system} and conducted a user study with 20 participants to rate the coherence, realism, and perceived roughness of nine visuo-haptic texture pairs.
Participants integrated roughness sensations from both visual and haptic modalities well, with \textbf{haptics predominating the perception}, and consistently identified and matched \textbf{clusters of visual and haptic textures with similar perceived roughness}.
@@ -32,20 +32,20 @@ Participants integrated roughness sensations from both visual and haptic modalit
Our approach was to design visual renderings of the hand and delocalized haptic rendering, based on the literature, and to evaluate them in user studies.
We first considered \textbf{(1) the visual rendering as hand augmentation} and then the \textbf{(2)} combination of different visuo-haptic \textbf{rendering of the hand manipulation with \VOs}.
\noindentskip In \chapref{visual_hand}, we investigated the visual rendering as hand augmentation.
In \chapref{visual_hand}, we investigated the visual rendering as hand augmentation.
Seen as an \textbf{overlay on the user's hand}, such visual hand rendering provide feedback on the hand tracking and the interaction with \VOs.
We compared the six commonly used renderings in the \AR litterature in a user study with 24 participants, where we evaluated their effect on the user performance and experience in two representative manipulation tasks.
The results showed that a visual hand rendering improved the user performance, perceived effectiveness and confidence, with a \textbf{skeleton-like rendering being the most performant and effective}.
This rendering provided a detailed view of the tracked phalanges while being thin enough not to hide the real hand.
\noindentskip In \chapref{visuo_haptic_hand}, we then investigated the visuo-haptic rendering as feedback of the direct hand manipulation with \VOs using wearable vibrotactile haptics.
In \chapref{visuo_haptic_hand}, we then investigated the visuo-haptic rendering as feedback of the direct hand manipulation with \VOs using wearable vibrotactile haptics.
In a user study with a similar design and 20 participants, we compared two vibrotactile contact techniques, provided at \textbf{four different delocalized positions on the user's hand}, and combined with the two most representative visual hand renderings from the previous chapter.
The results showed that providing vibrotactile feedback \textbf{improved the perceived effectiveness, realism, and usefulness when it was provided close to the fingertips}, and that the visual hand rendering complemented the haptic hand rendering well in giving a continuous feedback on the hand tracking.
\section{Future Work}
The wearable visuo-haptic augmentations of perception and manipulation we presented and the user studies we conducted in this thesis have of course some limitations.
In this section, we present some future work for each chapter that could address these.
The wearable visuo-haptic augmentations of perception and manipulation we presented, and the user studies we conducted for this thesis have of course some limitations.
In this section, we present some future work for each chapter that could address these issues.
\subsection*{Augmenting the Visuo-haptic Texture Perception of Tangible Surfaces}