From 732c3b7bf13832c7c651f9bbd9107d54c1ce7518 Mon Sep 17 00:00:00 2001 From: Erwan Normand Date: Thu, 12 Sep 2024 22:34:21 +0200 Subject: [PATCH] wearable for AR --- .../related-work/4-visuo-haptic-ar.tex | 47 +++++++++++-------- references.bib | 29 ++++++++++++ 2 files changed, 56 insertions(+), 20 deletions(-) diff --git a/1-introduction/related-work/4-visuo-haptic-ar.tex b/1-introduction/related-work/4-visuo-haptic-ar.tex index 429a61f..d2c4c14 100644 --- a/1-introduction/related-work/4-visuo-haptic-ar.tex +++ b/1-introduction/related-work/4-visuo-haptic-ar.tex @@ -64,20 +64,27 @@ While a large literature has investigated these differences in visual perception \subsection{Wearable Haptics for AR} \label{vhar_haptics} -\subsubsection{Fingertip-Free Haptic Devices} -\label{vhar_devices} +A few wearable haptic devices have been specifically designed for direct hand interaction in immersive \AR. +The main challenge of wearable haptics for \AR is to provide haptic sensations of virtual or augmented objects that are touched and manipulated directly with the fingers while keeping the fingertips free to interact with the \RE. +%Many approaches have been proposed and they differ greatly in the actuators used (see \secref{wearable_haptic_devices}), the type of rendered object (real or virtual), the rendered haptic property (contact, hardness, texture, see \secref{tactile_rendering}), and the placement of the haptic rendering. -A few wearable haptic devices have been specifically designed to render haptic sensations and improve interaction with virtual and augmented objects in \AR while keeping the fingertip free. -They all augment the hand perception with virtual haptic sensations, but they differ in the type of rendered object (real or virtual), the rendered haptic property (contact, hardness, texture, etc.), and the position of the actuator on the hand. +As with the general overview of wearable haptic devices for the hand in \secref{wearable_haptics}, the type of the actuator used strongly determines the haptic feedback. +For \AR, we distinguish between devices that rely on mechanical actuators, similar to those described in \secref{wearable_haptic_devices}, and devices that use electrical phenomena to generate haptic sensations. +A few other wearable haptic devices have been proposed and tested in immersive \AR, such as thin-skin tactile interfaces~\cite{withana2018tacttoo,teng2024haptic} or fluid-based interfaces~\cite{han2018hydroring}, but as they permanently cover the fingertip and affect the interaction with the \RE, they are not detailed here. -\paragraph{Fingernail Actuators} +\subsubsection{Mechanical Rendering} -\textcite{ando2007fingernailmounted} were the first to propose moving the haptic actuator away from the fingertip to allow it to interact freely with the \RE while in \AR. -As shown in \figref{ando2007fingernailmounted}, they placed a voice-coil on the index nail that generated \qty{20}{\ms} burst impulses at \qty{130}{\Hz}. -It rendered the sensation of crossing edges of a virtual patterned texture (see \secref{texture_rendering}) on a real sheet of paper, and participants were able to match the virtual patterns to their real counterparts. +All wearable haptics for \AR using mechanical actuators (as in \secref{wearable_haptic_devices}) move the actuator away from the fingertip to another location on the hand. +The haptic feedback is thus rendered de-localized from the point of contact of the finger on the rendered object. + +\paragraph{Nail-Mounted Devices} + +\textcite{ando2007fingernailmounted} were the first to propose this approach that they experimented with a voice-coil mounted on the index nail (see \figref{ando2007fingernailmounted}). +The sensation of crossing edges of a virtual patterned texture (see \secref{texture_rendering}) on a real sheet of paper were rendered with \qty{20}{\ms} vibration impulses at \qty{130}{\Hz}. +Participants were able to match the virtual patterns to their real counterparts of height \qty{0.25}{\mm} and width \qtyrange{1}{10}{\mm}, but systematically overestimated the virtual width to be \qty{4}{\mm} longer. This approach was later extended by \textcite{teng2021touch} with Touch\&Fold, a haptic device mounted on the nail but able to unfold its end-effector on demand to make contact with the fingertip when touching virtual objects (see \figref{teng2021touch}). -This moving platform also contains a \LRA (see \secref{moving_platforms}) and provides contact pressure (\qty{0.34}{\N} force) and texture (\qtyrange{150}{190}{\Hz} frenquencies) sensations. +This moving platform also contains a \LRA (see \secref{moving_platforms}) and provides contact pressure (\qty{0.34}{\N} force) and texture (\qtyrange{150}{190}{\Hz} bandwidth) sensations. %The whole system is very compact (\qtyproduct{24 x 24 x 41}{\mm}), lightweight (\qty{9.5}{\g}), and fully portable by including a battery and Bluetooth wireless communication. \qty{20}{\ms} for the Bluetooth When touching virtual objects in \OST-\AR with the index finger, this device was found to be more realistic overall (5/7) than vibrations with a \LRA at \qty{170}{\Hz} on the nail (3/7). Still, there is a high (\qty{92}{\ms}) latency for the folding mechanism and this design is not suitable for augmenting real tangible objects. @@ -93,9 +100,9 @@ In a user study not in \AR, but involving touching different images on a tablet, However, as for \textcite{teng2021touch}, finger speed was not taken into account for rendering vibrations, which may have been detrimental to texture perception. \begin{subfigs}{ar_wearable}{Nail-mounted wearable haptic devices designed for \AR. }[ - \item A voice-coil mounted on the nail to render a virtual haptic texture on a real sheet of paper. Adapted from \textcite{ando2007fingernailmounted}. - \item Touch\&Fold is provide contact pressure and vibrations on demand to the fingertip~\cite{teng2021touch}. - \item Fingeret is a finger-side wearable haptic device mounted that pulls and pushs the fingertip skin~\cite{maeda2022fingeret}. + \item A voice-coil rendering a virtual haptic texture on a real sheet of paper~\cite{ando2007fingernailmounted}. + \item Touch\&Fold provide contact pressure and vibrations on demand to the fingertip~\cite{teng2021touch}. + \item Fingeret is a finger-side wearable haptic device that pulls and pushs the fingertip skin~\cite{maeda2022fingeret}. ] \subfigsheight{34mm} \subfig{ando2007fingernailmounted} @@ -103,19 +110,19 @@ However, as for \textcite{teng2021touch}, finger speed was not taken into accoun \subfig{maeda2022fingeret} \end{subfigs} +\paragraph{Wrist-Mounted Devices} + +With their \enquote{Tactile And Squeeze Bracelet Interface} (Tasbi), already mentioned in \secref{belt_actuators}, \textcite{pezent2019tasbi} explored the use of a wrist-worn belt actuator. +It is capable of providing a uniform pressure sensation (up to \qty{15}{\N} and \qty{10}{\Hz}) and vibration with six \LRAs (\qtyrange{150}{200}{\Hz} bandwidth). +Although the device has not been tested in \AR, a user study conducted in \VR to compare the perception of haptic and visual stiffness rendering of a virtual button is detailed in the \secref{vhar_interaction}. + +\subsubsection{Electrical Based Rendering} + [@Bau2010Teslatouch] created a touch-based surface rendering textures using electrovibration and friction feedback between the surface and the user's finger. They extended this prototype to in [@Bau2012REVEL] to alter the texture of touched real objects using reverse electrovibration. They call this kind of haptic devices that can alter the touch perception of any object without any setup as *intrinsic haptic displays*. \cite{lopes2018adding} -\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}. -Each of these haptic devices provided haptic feedback about fingertip interactions with the virtual content on other parts of the hand. -If it is indeed necessary to delocalize the haptic feedback, each of these positions is promising, and they have not yet been compared with each other. - -\cite{pezent2019tasbi} - -\cite{tao2021altering} \subsection{Improving the Interactions with Virtual Objects} \label{vhar_interaction} diff --git a/references.bib b/references.bib index 8305307..212d142 100644 --- a/references.bib +++ b/references.bib @@ -1255,6 +1255,16 @@ doi = {10/gtk3cx} } +@inproceedings{han2018hydroring, + title = {{{HydroRing}}: {{Supporting Mixed Reality Haptics Using Liquid Flow}}}, + shorttitle = {{{HydroRing}}}, + booktitle = {{{ACM Symp}}. {{User Interface Softw}}. {{Technol}}.}, + author = {Han, Teng and Anderson, Fraser and Irani, Pourang and Grossman, Tovi}, + date = {2018}, + pages = {913--925}, + doi = {10/gfz8m2} +} + @article{harders2009calibration, title = {Calibration, {{Registration}}, and {{Synchronization}} for {{High Precision Augmented Reality Haptics}}}, author = {Harders, Matthias and Bianchi, Gerald and Knoerlein, Benjamin and Szekely, Gabor}, @@ -2892,6 +2902,15 @@ doi = {10/gkskqb} } +@inproceedings{teng2024haptic, + title = {Haptic {{Permeability}}: {{Adding Holes}} to {{Tactile Devices Improves Dexterity}}}, + shorttitle = {Haptic {{Permeability}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Teng, Shan-Yuan and Gupta, Aryan and Lopes, Pedro}, + date = {2024}, + doi = {10/gwhbpm} +} + @inproceedings{tran2024survey, title = {A {{Survey On Measuring Presence}} in {{Mixed Reality}}}, booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, @@ -3047,6 +3066,16 @@ doi = {10/bf9875} } +@inproceedings{withana2018tacttoo, + title = {Tacttoo: {{A Thin}} and {{Feel-Through Tattoo}} for {{On-Skin Tactile Output}}}, + shorttitle = {Tacttoo}, + booktitle = {{{ACM Symp}}. {{User Interface Softw}}. {{Technol}}.}, + author = {Withana, Anusha and Groeger, Daniel and Steimle, Jürgen}, + date = {2018}, + pages = {365--378}, + doi = {10/gfz8pv} +} + @article{witney2004cutaneous, title = {The Cutaneous Contribution to Adaptive Precision Grip}, author = {Witney, Alice G. and Wing, Alan and Thonnard, Jean-Louis and Smith, Allan M.},