diff --git a/3-perception/vhar-system/1-introduction.tex b/3-perception/vhar-system/1-introduction.tex index 97736e2..bf9a975 100644 --- a/3-perception/vhar-system/1-introduction.tex +++ b/3-perception/vhar-system/1-introduction.tex @@ -24,7 +24,7 @@ The haptic textures are rendered as a vibrotactile signal representing a pattern \bigskip -\begin{subfigs}{setup}{Visuo-haptic texture rendering system setup. }[][ +\begin{subfigs}{setup}{Visuo-haptic texture rendering system setup.}[][ \item HapCoil-One voice-coil actuator with a fiducial marker on top attached to the middle-phalanx of the user's index finger. \item Our implementation of the system using a Microsoft HoloLens~2, a webcam for tracking the hand and the real surfaces, and an external computer for processing the tracking data and rendering the haptic textures. ] diff --git a/3-perception/vhar-system/figures/apparatus.odg b/3-perception/vhar-system/figures/apparatus.odg new file mode 100644 index 0000000..daeba25 Binary files 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a/3-perception/xr-perception/3-experiment.tex +++ b/3-perception/xr-perception/3-experiment.tex @@ -155,23 +155,3 @@ For all questions, participants were shown only labels (\eg \enquote{Not at all} \end{tabularx} \end{tabwide} } - -\begin{tab}[!htb]{questions2} - {NASA-TLX questions asked to participants after each \factor{Visual Rendering} block of trials.} - [ - Questions were bipolar 100-points scales (0~=~Very Low and 100~=~Very High, except for Performance where 0~=~Perfect and 100~=~Failure). - Participants were shown only the labels for all questions. - ] - \begin{tabularx}{\linewidth}{p{0.13\linewidth} X} - \toprule - \textbf{Code} & \textbf{Question} \\ - \midrule - Mental Demand & How mentally demanding was the task? \\ - Temporal Demand & How hurried or rushed was the pace of the task? \\ - Physical Demand & How physically demanding was the task? \\ - Performance & How successful were you in accomplishing what you were asked to do? \\ - Effort & How hard did you have to work to accomplish your level of performance? \\ - Frustration & How insecure, discouraged, irritated, stressed, and annoyed were you? \\ - \bottomrule - \end{tabularx} -\end{tab} diff --git a/3-perception/xr-perception/4-results.tex b/3-perception/xr-perception/4-results.tex index df2e734..c17d52b 100644 --- a/3-perception/xr-perception/4-results.tex +++ b/3-perception/xr-perception/4-results.tex @@ -83,25 +83,6 @@ Friedman tests were employed to compare the ratings to the questions (\tabref{qu \item \response{Hand Distraction}: the virtual hand was slightly distracting with the \level{Mixed} rendering (\num{2.1 \pm 1.1}) but not at all with the \level{Virtual} rendering (\num{1.2 \pm 0.4}, \p{0.004}). \end{itemize} -Overall, participants' sense of control over the virtual hand was very high (\response{Hand Agency}, \num{4.4 \pm 0.6}), felt the virtual hand was quite similar to their own hand (\response{Hand Similarity}, \num{3.5 \pm 0.9}), and that the \VE was very realistic (\response{Virtual Realism}, \num{4.2 \pm 0.7}) and very similar to the real one (\response{Virtual Similarity}, \num{4.5 \pm 0.7}). -The overall workload (mean NASA-TLX score) was low (\num{21 \pm 14}), with no statistically significant differences found between the visual renderings for any of the subscales or the overall score. - -The textures were also overall found to be very much caused by the finger movements (\response{Texture Agency}, \num{4.5 \pm 1.0}) with a very low perceived latency (\response{Texture Latency}, \num{1.6 \pm 0.8}), and to be quite realistic (\response{Texture Realism}, \num{3.6 \pm 0.9}) and quite plausible (\response{Texture Plausibility}, \num{3.6 \pm 1.0}). -The vibrations were felt a slightly weak overall (\response{Vibration Strength}, \num{4.2 \pm 1.1}), and the vibrotactile device was perceived as neither distracting (\response{Device Distraction}, \num{1.2 \pm 0.4}) nor uncomfortable (\response{Device Discomfort}, \num{1.3 \pm 0.6}). - -Participants were mixed between feeling the vibrations on the surface or on the top of their finger (\response{Vibration Location}, \num{3.9 \pm 1.7}); the distribution of scores was split between the two poles of the scale with \level{Real} and \level{Mixed} renderings (\percent{42.5} more on surface or on finger top, \percent{15} neutral), but there was a trend towards the top of the finger in VR renderings (\percent{65} \vs \percent{25} more on surface and \percent{10} neutral), but this difference was not statistically significant neither. - -%\figwide{results/question_heatmaps}{% -% -% Heatmaps of the questionnaire responses, with the median rating and the interquartile range in parentheses on each cell. -% -% (Left) point Likert scale questions (1=Not at all, 2=Slightly, 3=Moderately, 4=Very, 5=Extremely). -% -% (Middle) point Likert scale questions (1=Extremely A, 2=Moderately A, 3=Slightly A, 4=Neither A nor B, 5=Slightly B, 6=Moderately B, 7=Extremely B) with A and B being the two poles of the scale. -% -% (Right) Load Index (NASA-TLX) questionnaire (lower values are better). -%} - \begin{subfigs}{results_questions}{Boxplots of the questionnaire results for the virtual hand renderings.}[ Pairwise Wilcoxon signed-rank tests with Holm-Bonferroni adjustment: * is \pinf{0.05}, ** is \pinf{0.01} and *** is \pinf{0.001}. ][ @@ -115,3 +96,43 @@ Participants were mixed between feeling the vibrations on the surface or on the \subfig[0.18]{results/questions_hand_reference} \subfig[0.18]{results/questions_hand_distraction} \end{subfigs} + +Overall, participants' sense of control over the virtual hand was very high (\response{Hand Agency}, \num{4.4 \pm 0.6}), felt the virtual hand was quite similar to their own hand (\response{Hand Similarity}, \num{3.5 \pm 0.9}), and that the \VE was very realistic (\response{Virtual Realism}, \num{4.2 \pm 0.7}) and very similar to the real one (\response{Virtual Similarity}, \num{4.5 \pm 0.7}). +The overall workload (mean NASA-TLX score) was low (\num{21 \pm 14}), with no statistically significant differences found between the visual renderings for any of the subscales or the overall score. + +The textures were also overall found to be very much caused by the finger movements (\response{Texture Agency}, \num{4.5 \pm 1.0}) with a very low perceived latency (\response{Texture Latency}, \num{1.6 \pm 0.8}), and to be quite realistic (\response{Texture Realism}, \num{3.6 \pm 0.9}) and quite plausible (\response{Texture Plausibility}, \num{3.6 \pm 1.0}). +The vibrations were felt a slightly weak overall (\response{Vibration Strength}, \num{4.2 \pm 1.1}), and the vibrotactile device was perceived as neither distracting (\response{Device Distraction}, \num{1.2 \pm 0.4}) nor uncomfortable (\response{Device Discomfort}, \num{1.3 \pm 0.6}). + +Participants were mixed between feeling the vibrations on the surface or on the top of their finger (\response{Vibration Location}, \num{3.9 \pm 1.7}); the distribution of scores was split between the two poles of the scale with \level{Real} and \level{Mixed} renderings (\percent{42.5} more on surface or on finger top, \percent{15} neutral), but there was a trend towards the top of the finger in VR renderings (\percent{65} \vs \percent{25} more on surface and \percent{10} neutral), but this difference was not statistically significant neither. + +\begin{tab}{questions2} + {NASA-TLX questions asked to participants after each \factor{Visual Rendering} block of trials.} + [ + Questions were bipolar 100-points scales (0~=~Very Low and 100~=~Very High, except for Performance where 0~=~Perfect and 100~=~Failure), with increments of 5. + %Participants were shown only the labels for all questions. + ] + \begin{tabularx}{\linewidth}{l X} + \toprule + \textbf{Code} & \textbf{Question} \\ + \midrule + Mental Demand & How mentally demanding was the task? \\ + Temporal Demand & How hurried or rushed was the pace of the task? \\ + Physical Demand & How physically demanding was the task? \\ + Performance & How successful were you in accomplishing what you were asked to do? \\ + Effort & How hard did you have to work to accomplish your level of performance? \\ + Frustration & How insecure, discouraged, irritated, stressed, and annoyed were you? \\ + \bottomrule + \end{tabularx} +\end{tab} + +%\figwide{results/question_heatmaps}{% +% +% Heatmaps of the questionnaire responses, with the median rating and the interquartile range in parentheses on each cell. +% +% (Left) point Likert scale questions (1=Not at all, 2=Slightly, 3=Moderately, 4=Very, 5=Extremely). +% +% (Middle) point Likert scale questions (1=Extremely A, 2=Moderately A, 3=Slightly A, 4=Neither A nor B, 5=Slightly B, 6=Moderately B, 7=Extremely B) with A and B being the two poles of the scale. +% +% (Right) Load Index (NASA-TLX) questionnaire (lower values are better). +%} + diff --git a/3-perception/xr-perception/figures/experiment/apparatus.odg b/3-perception/xr-perception/figures/experiment/apparatus.odg index 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