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Erwan Normand
2025-04-09 15:05:27 +02:00
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4-manipulation/visuo-haptic-hand/2-method.tex
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@@ -88,14 +88,14 @@ Apparatus and experimental procedure were similar to the \chapref{visual_hand},
We report here only the differences. We report here only the differences.
We employed the same vibrotactile device used by \cite{devigne2020power}. 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). 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 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}. 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. 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. 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. 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 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. 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}. 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}.