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More \RE and \VE uses

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Erwan Normand
2025-04-12 14:25:20 +02:00
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5 changed files with 7 additions and 7 deletions
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3-perception/vhar-system/1-introduction.tex
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@@ -20,7 +20,7 @@ The haptic textures are rendered as a vibrotactile signal representing a pattern
\item A system to provide a coherent visuo-haptic texture augmentations of the \RE in a direct touch context using an \OST-\AR headset and wearable haptics. \item A system to provide a coherent visuo-haptic texture augmentations of the \RE in a direct touch context using an \OST-\AR headset and wearable haptics.
\end{itemize} \end{itemize}
\noindentskip In the remainder of this chapter, we describe the principles of the system, how the real and virtual environments are registered, the generation of the vibrotactile textures, and measures of visual and haptic rendering latencies. \noindentskip In the remainder of this chapter, we describe the principles of the system, how the \RE and \VE are registered, the generation of the vibrotactile textures, and measures of visual and haptic rendering latencies.
\bigskip \bigskip

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3-perception/vhar-textures/5-conclusion.tex
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@@ -11,7 +11,7 @@ Conversely, there was less consensus on the perceived roughness of visual textur
Regarding the final roughness perception ranking of the original visuo-haptic pairs, the haptic roughness sensation dominated the perception. Regarding the final roughness perception ranking of the original visuo-haptic pairs, the haptic roughness sensation dominated the perception.
This suggests that \AR visual textures that augments real surfaces can be enhanced with a set of data-driven vibrotactile haptic textures in a coherent and realistic manner. This suggests that \AR visual textures that augments real surfaces can be enhanced with a set of data-driven vibrotactile haptic textures in a coherent and realistic manner.
This paves the way for new \AR applications capable of augmenting a real environment with virtual visuo-haptic textures, such as visuo-haptic painting in artistic or object design context, or viewing and touching virtual objects in a museum or a showroom. This paves the way for new \AR applications capable of augmenting a \RE with virtual visuo-haptic textures, such as visuo-haptic painting in artistic or object design context, or viewing and touching virtual objects in a museum or a showroom.
The latter is illustrated in \figref{experiment/use_case}, where a user applies different visuo-haptic textures to a wall, in an interior design scenario, to compare them visually and by touch. The latter is illustrated in \figref{experiment/use_case}, where a user applies different visuo-haptic textures to a wall, in an interior design scenario, to compare them visually and by touch.
We instinctively perceive the properties of everyday objects by touching and exploring them, but we essentially interact with them by grasping in order to manipulate them. We instinctively perceive the properties of everyday objects by touching and exploring them, but we essentially interact with them by grasping in order to manipulate them.

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3-perception/xr-perception/3-experiment.tex
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@@ -51,7 +51,7 @@ They also wore headphones with a brown noise masking the sound of the voice-coil
The user study was held in a quiet room with no windows. The user study was held in a quiet room with no windows.
\begin{subfigs}{setup}{Visuo-haptic textures rendering setup. }[][ \begin{subfigs}{setup}{Visuo-haptic textures rendering setup. }[][
\item HoloLens~2 \OST-\AR headset, the two cardboard masks to switch the real or virtual environments with the same \FoV, and the \ThreeD-printed piece for attaching the masks to the headset. \item HoloLens~2 \OST-\AR headset, the two cardboard masks to switch the \RE and \VE with the same \FoV, and the \ThreeD-printed piece for attaching the masks to the headset.
\item User exploring a virtual vibrotactile texture on a real sheet of paper. \item User exploring a virtual vibrotactile texture on a real sheet of paper.
] ]
\subfigsheight{48.5mm} \subfigsheight{48.5mm}
@@ -88,7 +88,7 @@ The user study took on average one hour to complete.
The user study was a within-subjects design with two factors: The user study was a within-subjects design with two factors:
\begin{itemize} \begin{itemize}
\item \factor{Visual Rendering} consists of the augmented or virtual view of the environment, the hand and the wearable haptic device, with 3 levels: real environment and hand view without any visual augmentation (\figref{renderings}, \level{Real}), real environment and hand view with the superimposed virtual hand (\figref{renderings}, \level{Mixed}) and virtual environment with the virtual hand (\figref{renderings}, \level{Virtual}). \item \factor{Visual Rendering} consists of the augmented or virtual view of the environment, the hand and the wearable haptic device, with 3 levels: \RE and real hand view without any visual augmentation (\figref{renderings}, \level{Real}), \AE with real hand view and the superimposed virtual hand (\figref{renderings}, \level{Mixed}), and \VE with the virtual hand (\figref{renderings}, \level{Virtual}).
\item \factor{Amplitude Difference} consists of the difference in amplitude of the comparison texture with the reference texture (which is identical for all visual renderings), with 6 levels: \qtylist{\pm 12.5; \pm 25.0; \pm 37.5}{\%}. \item \factor{Amplitude Difference} consists of the difference in amplitude of the comparison texture with the reference texture (which is identical for all visual renderings), with 6 levels: \qtylist{\pm 12.5; \pm 25.0; \pm 37.5}{\%}.
\end{itemize} \end{itemize}

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3-perception/xr-perception/6-conclusion.tex
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@@ -17,7 +17,7 @@ We hypothesized that this difference in perception was due to the \emph{perceive
This study suggests that attention should be paid to the respective latencies of the visual and haptic sensory feedbacks inherent in such systems and, more importantly, to \emph{the perception of their possible asynchrony}. This study suggests that attention should be paid to the respective latencies of the visual and haptic sensory feedbacks inherent in such systems and, more importantly, to \emph{the perception of their possible asynchrony}.
Latencies should be measured \cite{friston2014measuring}, minimized to an acceptable level for users and kept synchronized with each other \cite{diluca2019perceptual}. Latencies should be measured \cite{friston2014measuring}, minimized to an acceptable level for users and kept synchronized with each other \cite{diluca2019perceptual}.
It seems also that the visual aspect of the hand or the environment on itself has little effect on the perception of haptic feedback, but the degree of visual virtuality can affect the asynchrony perception of the latencies, even though the latencies remain identical. It seems also that the visual aspect of the hand or the environment on itself has little effect on the perception of haptic feedback, but the degree of visual virtuality can affect the asynchrony perception of the latencies, even though the latencies remain identical.
When designing for wearable haptics or integrating it into \AR/\VR, it seems important to test its perception in real, augmented and virtual environments. When designing for wearable haptics or integrating it into \AR/\VR, it seems important to test its perception in real (\RE), augmented (\AE) and virtual (\VE) environments.
%With a better understanding of how visual factors influence the perception of haptically augmented real objects, the many wearable haptic systems that already exist but have not yet been fully explored with \AR can be better applied and new visuo-haptic renderings adapted to \AR can be designed. %With a better understanding of how visual factors influence the perception of haptically augmented real objects, the many wearable haptic systems that already exist but have not yet been fully explored with \AR can be better applied and new visuo-haptic renderings adapted to \AR can be designed.
%Finally, a visual hand representation in OST-\AR together with wearable haptics should be avoided until acceptable tracking latencies \are achieved, as was also observed for virtual object interaction with the bare hand \cite{normand2024visuohaptic}. %Finally, a visual hand representation in OST-\AR together with wearable haptics should be avoided until acceptable tracking latencies \are achieved, as was also observed for virtual object interaction with the bare hand \cite{normand2024visuohaptic}.

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5-conclusion/conclusion.tex
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@@ -60,7 +60,7 @@ In addition, combination with pseudo-haptic rendering techniques \cite{ujitoko20
\paragraph{Fully Integrated Tracking.} \paragraph{Fully Integrated Tracking.}
In our system, we registered the real and virtual environments (\secref[related_work]{ar_definition}) using fiducial markers and a webcam external to the \AR headset. In our system, we registered the \RE and the \VE using fiducial markers and a webcam external to the \AR headset.
This only allowed us to estimate poses of the index finger and the surface to be augmented with the haptic texture, but it was reliable and accurate enough for our needs. This only allowed us to estimate poses of the index finger and the surface to be augmented with the haptic texture, but it was reliable and accurate enough for our needs.
In fact, preliminary tests we conducted showed that the built-in tracking capabilities of the HoloLens~2 were not able to track hands wearing a vibrotactile voice-coil device. In fact, preliminary tests we conducted showed that the built-in tracking capabilities of the HoloLens~2 were not able to track hands wearing a vibrotactile voice-coil device.
A more robust hand pose estimation system would support wearing haptic devices on the hand as well as holding real objects. A more robust hand pose estimation system would support wearing haptic devices on the hand as well as holding real objects.
@@ -188,7 +188,7 @@ In particular, in this thesis we investigated the perception of haptic texture a
Haptic feedback should be provided close to the point of contact of the hand with the virtual, to enhance the realism of texture augmentation (\chapref{vhar_textures}) and to render contact with virtual objects (\chapref{visuo_haptic_hand}), \eg rendering fingertip contact with a haptic ring worn on the middle or proximal phalanx. Haptic feedback should be provided close to the point of contact of the hand with the virtual, to enhance the realism of texture augmentation (\chapref{vhar_textures}) and to render contact with virtual objects (\chapref{visuo_haptic_hand}), \eg rendering fingertip contact with a haptic ring worn on the middle or proximal phalanx.
However, the task at hand, the user's sensitivity and preferences, the limitations of the tracking system, or the ergonomics of the haptic device may require the use of other form factors and positions, such as the wrist or arm. However, the task at hand, the user's sensitivity and preferences, the limitations of the tracking system, or the ergonomics of the haptic device may require the use of other form factors and positions, such as the wrist or arm.
Similarly, collaborative and transitional experiences between \AR and \VR are becoming more common, and would involve different setups and modalities \cite{roo2017onea}. Similarly, collaborative and transitional experiences between \AR and \VR are becoming more common, and would involve different setups and modalities \cite{roo2017onea}.
Novel \AR/\VR displays are already capable of transitioning from augmented to virtual environments \cite{feld2024simple}, and haptic feedback should also adapt to these transitions (\chapref{xr_perception}). Novel \AR/\VR displays are already capable of transitioning from \AE to \VE \cite{feld2024simple}, and haptic feedback should also adapt to these transitions (\chapref{xr_perception}).
Therefore, a visuo-haptic augmented reality system should be able to adapt to any \AR/\VR display, any wearable haptic device worn anywhere on the body, and support personalization of haptic feedback. Therefore, a visuo-haptic augmented reality system should be able to adapt to any \AR/\VR display, any wearable haptic device worn anywhere on the body, and support personalization of haptic feedback.
In other words, the visuo-haptic rendering system should be designed to be responsive to the context of use. In other words, the visuo-haptic rendering system should be designed to be responsive to the context of use.