From 7fe080351d15f133b7ce0a59ee21496418a6e7d3 Mon Sep 17 00:00:00 2001 From: Erwan Normand Date: Wed, 9 Apr 2025 15:05:27 +0200 Subject: [PATCH] Typo --- 4-manipulation/visuo-haptic-hand/2-method.tex | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/4-manipulation/visuo-haptic-hand/2-method.tex b/4-manipulation/visuo-haptic-hand/2-method.tex index 34fde80..c211671 100644 --- a/4-manipulation/visuo-haptic-hand/2-method.tex +++ b/4-manipulation/visuo-haptic-hand/2-method.tex @@ -88,14 +88,14 @@ Apparatus and experimental procedure were similar to the \chapref{visual_hand}, We report here only the differences. We employed the same vibrotactile device used by \cite{devigne2020power}. -It is composed of two encapsulated \ERM (\secref[related_work]{vibrotactile_actuators}) vibration motors (Pico-Vibe 304-116, Precision Microdrive, UK). -They are small and light (\qty{5}{\mm} \x \qty{20}{\mm}, \qty{1.2}{\g}) actuators capable of vibration frequencies from \qtyrange{120}{285}{\Hz} and +It is composed of two encapsulated \ERM (\secref[related_work]{vibrotactile_actuators}) vibration motors (Pico-Vibe 304-116, Precision Microdrive). +They are small and light (\qty{5}{\mm} \x \qty{20}{\mm}, \qty{1.2}{\g}) actuators capable of vibration frequencies from \qtyrange{120}{285}{\Hz} and amplitudes from \qtyrange{0.2}{1.15}{\g}. They have a latency of \qty{20}{\ms} that we partially compensated for at the software level with slightly larger colliders to trigger the vibrations close the moment the finger touched the cube. These two outputs vary linearly together, based on the tension applied. They were controlled by an Arduino Pro Mini (\qty{3.3}{\V}) and a custom board that delivered the tension independently to each motor. A small \qty{400}{mAh} Li-ion battery allowed for 4 hours of constant vibration at maximum intensity. -A Bluetooth module (RN42XV module, Microchip Technology Inc., USA) mounted on the Arduino ensured wireless communication with the HoloLens~2. +A Bluetooth module (RN42XV module, Microchip Technology Inc.) mounted on the Arduino ensured wireless communication with the HoloLens~2. To ensure minimal encumbrance, we used the same two motors throughout the experiment, moving them to the considered positioning before each new block. Thin self-gripping straps were placed on the five positionings, with an elastic strap stitched on top to place the motor, as shown in \figref{method/locations}.