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Typo, remove consistent, rendering => feedback

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Erwan Normand
2024-10-17 13:34:15 +02:00
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4
3-manipulation/visual-hand/1-introduction.tex
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@@ -15,14 +15,14 @@ We \textbf{evaluate in a user study}, using the \OST-\AR headset Microsoft HoloL
\noindentskip The main contributions of this chapter are:
\begin{itemize}
\item A comparison from the literature of the six most common visual hand renderings used to interact with \VOs in \AR.
\item A user study evaluating with 24 participants the performance and user experience of the six visual hand renderings superimposed on the real hand during free and direct hand manipulation of \VOs in \OST-\AR.
\item A user study evaluating with 24 participants the performance and user experience of the six visual hand renderings as augmentation of the real hand during free and direct hand manipulation of \VOs in \OST-\AR.
\end{itemize}
\noindentskip In the next sections, we first present the six visual hand renderings we considered and gathered from the literature. We then describe the experimental setup and design, the two manipulation tasks, and the metrics used. We present the results of the user study and discuss the implications of these results for the manipulation of \VOs directly with the hand in \AR.
\bigskip
\begin{subfigs}{hands}{The six visual hand renderings.}[
\begin{subfigs}{hands}{The six visual hand renderings as augmentation of the real hands.}[
As seen by the user through the \AR headset during the two-finger grasping of a virtual cube.
][
\item No visual rendering \level{(None)}.

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3-manipulation/visual-hand/5-conclusion.tex
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@@ -1,17 +1,17 @@
\section{Conclusion}
\label{conclusion}
In this chapter, we addressed the challenge of touching, grasping and manipulating \VOs directly with the hand in immersive \OST-\AR by providing and evaluating visual renderings as hand augmentation.
In this chapter, we addressed the challenge of touching, grasping and manipulating \VOs directly with the hand in immersive \OST-\AR by providing and evaluating visual renderings as augmentation of the real hand.
Superimposed on the user's hand, these visual renderings provide feedback from the virtual hand, which tracks the real hand, and simulates the interaction with \VOs as a proxy.
We first selected and compared the six most popular visual hand renderings used to interact with \VOs in \AR.
Then, in a user study with 24 participants and an immersive \OST-\AR headset, we evaluated the effect of these six visual hand renderings on the user performance and experience in two representative manipulation tasks.
Our results showed that a visual hand rendering overlaying the real hand improved the performance, perceived effectiveness and confidence of participants compared to no rendering.
Our results showed that a visual hand augmentation improved the performance, perceived effectiveness and confidence of participants compared to no augmentation.
A skeleton rendering, which provided a detailed view of the tracked joints and phalanges while not hiding the real hand, was the most performant and effective.
The contour and mesh renderings were found to mask the real hand, while the tips rendering was controversial.
The occlusion rendering had too much tracking latency to be effective.
This is consistent with similar manipulation studies in \VR and in non-immersive \VST-\AR setups.
This study suggests that a \ThreeD visual hand rendering is important in \AR when interacting with a virtual hand technique, particularly when it involves precise finger movements in relation to virtual content, \eg \ThreeD windows, buttons and sliders, or more complex tasks, such as stacking or assembly.
A minimal but detailed rendering of the hand that does not hide the real hand, such as the skeleton rendering we evaluated, seems to be the best compromise between the richness and effectiveness of the feedback.
This study suggests that a \ThreeD visual hand augmentation is important in \AR when interacting with a virtual hand technique, particularly when it involves precise finger movements in relation to virtual content, \eg \ThreeD windows, buttons and sliders, or more complex tasks, such as stacking or assembly.
A minimal but detailed rendering of the virtual hand that does not hide the real hand, such as the skeleton rendering we evaluated, seems to be the best compromise between the richness and effectiveness of the feedback.
%Still, users should be able to choose and adapt the visual hand rendering to their preferences and needs.

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3-manipulation/visual-hand/visual-hand.tex
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@@ -1,4 +1,4 @@
\chapter{Visual Rendering of the Hand for Manipulating Virtual Objects in AR}
\chapter{Visual Augmentation of the Hand for Manipulating Virtual Objects in AR}
\mainlabel{visual_hand}
\chaptertoc

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3-manipulation/visuo-haptic-hand/1-introduction.tex
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@@ -3,26 +3,26 @@
Providing haptic feedback during free-hand manipulation in \AR is not trivial, as wearing haptic devices on the hand might affect the tracking capabilities of the system \cite{pacchierotti2016hring}.
Moreover, it is important to leave the user capable of interacting with both virtual and real objects, avoiding the use of haptic interfaces that cover the fingertips or palm.
For this reason, it is often considered beneficial to move the point of application of the haptic rendering elsewhere on the hand (\secref[related_work]{vhar_haptics}).
However, the impact of the positioning of the haptic rendering on the hand during direct hand manipulation in \AR has not been systematically studied.
For this reason, it is often considered beneficial to move the point of application of the haptic feedback elsewhere on the hand (\secref[related_work]{vhar_haptics}).
However, the impact of the positioning of the haptic feedback on the hand during direct hand manipulation in \AR has not been systematically studied.
Conjointly, a few studies have explored and compared the effects of visual and haptic feedback in tasks involving the manipulation of \VOs with the hand.
\textcite{sarac2022perceived} and \textcite{palmer2022haptic} studied the effects of providing haptic feedback about contacts at the fingertips using haptic devices worn at the wrist, testing different mappings.
Their results proved that moving the haptic feedback away from the point(s) of contact is possible and effective, and that its impact is more significant when the visual feedback is limited.
A final question is whether one or the other of these (haptic or visual) hand renderings should be preferred \cite{maisto2017evaluation,meli2018combining}, or whether a combined visuo-haptic rendering is beneficial for users.
A final question is whether one or the other of these (haptic or visual) hand feedback should be preferred \cite{maisto2017evaluation,meli2018combining}, or whether a combined visuo-haptic feedback is beneficial for users.
However, these studies were conducted in non-immersive setups, with a screen displaying the \VE view.
In fact, both hand renderings can provide sufficient sensory feedback for efficient direct hand manipulation of \VOs in \AR, or conversely, they can be shown to be complementary.
In fact, both hand feedback can provide sufficient sensory feedback for efficient direct hand manipulation of \VOs in \AR, or conversely, they can be shown to be complementary.
In this chapter, we aim to investigate the role of \textbf{visuo-haptic rendering of \VO manipulation with the hand} in immersive \OST-\AR using wearable vibrotactile haptics.
In this chapter, we aim to investigate the role of \textbf{visuo-haptic feedback of the hand when manipulating \VO} in immersive \OST-\AR using wearable vibrotactile haptics.
We selected \textbf{four different delocalized positionings on the hand} that have been previously proposed in the literature for direct hand interaction in \AR using wearable haptic devices (\secref[related_work]{vhar_haptics}): on the nails, the proximal phalanges, the wrist, and the nails of the opposite hand.
We focused on vibrotactile feedback, as it is used in most of the wearable haptic devices and has the lowest encumbrance.
In a \textbf{user study}, using the \OST-\AR headset Microsoft HoloLens~2 and two \ERM vibrotactile motors, we evaluated the effect of the four positionings with \textbf{two contact vibration techniques} on the user performance and experience with the same two manipulation tasks as in \chapref{visual_hand}.
We additionally compared these vibrotactile renderings with the \textbf{skeleton-like visual hand rendering} established in the \chapref{visual_hand} as a complementary visuo-haptic feedback of the hand interaction with the \VOs.
We additionally compared these vibrotactile renderings with the \textbf{skeleton-like visual hand augmentation} established in the \chapref{visual_hand} as a complementary visuo-haptic feedback of the hand interaction with the \VOs.
\noindentskip The contributions of this chapter are:
\begin{itemize}
\item The evaluation in a user study with 20 participants of the effect of providing a vibrotactile feedback of the fingertip contacts with \VOs, during direct manipulation with bare hand in \AR, at four different delocalized positionings of the haptic rendering on the hand and with two contact vibration techniques.
\item The comparison of these vibrotactile positionings and renderings techniques with the two most representative visual hand renderings established in the \chapref{visual_hand}.
\item The evaluation in a user study with 20 participants of the effect of providing a vibrotactile feedback of the fingertip contacts with \VOs, during direct manipulation with bare hand in \AR, at four different delocalized positionings of the haptic feedback on the hand and with two contact vibration techniques.
\item The comparison of these vibrotactile positionings and renderings techniques with the two most representative visual hand augmentations established in the \chapref{visual_hand}.
\end{itemize}
\noindentskip In the next sections, we first describe the four delocalized positionings and the two contact vibration techniques we considered, based on previous work. We then present the experimental setup and design of the user study. Finally, we report the results and discuss them in the context of the free hand interaction with virtual content in \AR.

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3-manipulation/visuo-haptic-hand/4-discussion.tex
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@@ -1,7 +1,7 @@
\section{Discussion}
\label{discussion}
We evaluated sixteen visuo-haptic renderings of the hand, in the same two \VO manipulation tasks in \AR as in the \chapref{visual_hand}, as the combination of two vibrotactile contact techniques provided at four delocalized positions on the hand with the two most representative visual hand renderings established in the \chapref{visual_hand}.
We evaluated twenty visuo-haptic renderings of the hand, in the same two \VO manipulation tasks in \AR as in the \chapref{visual_hand}, as the combination of two vibrotactile contact techniques provided at five delocalized positions on the hand with the two most representative visual hand renderings established in the \chapref{visual_hand}.
In the \level{Push} task, vibrotactile haptic hand rendering has been proven beneficial with the \level{Proximal} positioning, which registered a low completion time, but detrimental with the \level{Fingertips} positioning, which performed worse (\figref{results/Push-CompletionTime-Location-Overall-Means}) than the \level{Proximal} and \level{Opposite} (on the contralateral hand) positionings.
The cause might be the intensity of vibrations, which many participants found rather strong and possibly distracting when provided at the fingertips.

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3-manipulation/visuo-haptic-hand/5-conclusion.tex
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@@ -1,16 +1,16 @@
\section{Conclusion}
\label{conclusion}
In this chapter, we investigated the visuo-haptic rendering as feedback of the direct hand manipulation with \VOs in immersive \OST-\AR using wearable vibrotactile haptic.
To do so, we provided vibrotactile feedback of the fingertip contacts with \VOs during direct hand manipulation by moving away the haptic actuator that do not cover the inside of the hand: on the nails, the proximal phalanges, the wrist, and the nails of the opposite hand.
In this chapter, we investigated the visuo-haptic feedback of the hand when manipulating \VOs in immersive \OST-\AR using wearable vibrotactile haptic.
To do so, we provided vibrotactile feedback of the fingertip contacts with \VOs by moving away the haptic actuator that do not cover the inside of the hand: on the nails, the proximal phalanges, the wrist, and the nails of the opposite hand.
We selected these four different delocalized positions on the hand from the literature for direct hand interaction in \AR using wearable haptic devices.
In a user study, we compared sixteen visuo-haptic renderings of the hand as the combination of two vibrotactile contact techniques, provided at four different delocalized positions on the user's hand, and with the two most representative visual hand renderings established in the \chapref{visual_hand}, \ie the skeleton hand rendering and no hand rendering.
In a user study, we compared twenty visuo-haptic feedback of the hand as the combination of two vibrotactile contact techniques, provided at five different delocalized positions on the user's hand, and with the two most representative visual hand augmentations established in the \chapref{visual_hand}, \ie the skeleton hand rendering and no hand rendering.
Results showed that delocalized vibrotactile haptic hand rendering improved the perceived effectiveness, realism, and usefulness when it is provided close to the contact point.
Results showed that delocalized vibrotactile haptic hand feedback improved the perceived effectiveness, realism, and usefulness when it is provided close to the contact point.
However, the farthest positioning on the contralateral hand gave the best performance even though it was disliked: the unfamiliarity of the positioning probably caused the participants to take more effort to consider the haptic stimuli and to focus more on the task.
The visual hand rendering was perceived less necessary than the vibrotactile haptic hand rendering, but still provided a useful feedback on the hand tracking.
The visual hand augmentation was perceived less necessary than the vibrotactile haptic feedback, but still provided a useful feedback on the hand tracking.
This study provide evidence that moving away the feedback from the inside of the hand is a simple but promising approach for wearable haptics in \AR.
If integration with the hand tracking system allows it, and if the task requires it, a haptic ring worn on the middle or proximal phalanx seems preferable.
However, a wrist-mounted haptic device will be able to provide richer feedback by embedding more diverse haptic actuators with larger bandwidths and maximum amplitudes, while being less obtrusive than a ring.
Finally, we think that the visual hand rendering complements the haptic hand rendering well by providing continuous feedback on the hand tracking, and that it can be disabled during the grasping phase to avoid redundancy with the haptic feedback of the contact with the \VO.
Finally, we think that the visual hand augmentation complements the haptic contact rendering well by providing continuous feedback on the hand tracking, and that it can be disabled during the grasping phase to avoid redundancy with the haptic feedback of the contact with the \VO.

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3-manipulation/visuo-haptic-hand/visuo-haptic-hand.tex
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@@ -1,4 +1,4 @@
\chapter{Visuo-Haptic Rendering of Hand Manipulation with Virtual Objects in AR}
\chapter{Visuo-Haptic Augmentation of Hand Manipulation with Virtual Objects in AR}
\mainlabel{visuo_haptic_hand}
\chaptertoc