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Erwan Normand
2025-04-12 15:03:25 +02:00
parent b296d3ae98
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5 changed files with 37 additions and 16 deletions
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3-perception/vhar-textures/2-experiment.tex
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@@ -27,7 +27,7 @@ The user study was held in a quiet room with no windows, with one light source o
Nine \qty{5}{\cm} square cardboards with smooth, white melamine surface, arranged in a \numproduct{3 x 3} grid, were used as real surfaces to augment.
Their poses were estimated with three \qty{2}{\cm} AprilTag fiducial markers glued on the surfaces grid.
Similarly, a \qty{2}{\cm} fiducial marker was glued on top of the vibrotactile actuator to detect the finger pose.
Positioned \qty{20}{\cm} above the surfaces, a webcam (StreamCam, Logitech) filmed the markers to track finger movements relative to the surfaces, as described in \secref[vhar_system]{virtual_real_alignment}.
Positioned \qty{20}{\cm} above the surfaces, a webcam (StreamCam, Logitech) filmed the markers to track finger movements relative to the surfaces, as described in \secref[vhar_system]{virtual_real_registration}.
The visual textures were displayed on the real surfaces using the \OST-\AR headset Microsoft HoloLens~2 running a custom application at \qty{60}{FPS} made with Unity (v2021.1) and Mixed Reality Toolkit (v2.7).
A set of empirical tests enabled us to choose the best rendering characteristics in terms of transparency and brightness for the visual textures, that were used throughout the user study.
@@ -58,7 +58,7 @@ Participants were first given written instructions about the experimental setup,
Then, after having signed an informed consent form, they were asked to seat in front of the table with the experimental setup and to wear the \AR headset.
%The experimenter firmly attached the plastic shell encasing the vibrotactile actuator to the middle index phalanx of their dominant hand.
As the haptic textures generated no audible noise, participants did not wear any noise reduction headphones.
A calibration of both the HoloLens~2 and the finger pose estimation was performed to ensure the correct alignment of the visual and haptic textures on the real surfaces.
A calibration of both the HoloLens~2 and the finger pose estimation was performed to ensure the correct registration of the visuo-haptic textures and the real finger with the real surfaces, as described in \secref[vhar_system]{virtual_real_registration}.
Finally, participants familiarized with the augmented surface in a \qty{2}{min} training session with textures different from the ones used in the user study.
Participants started with the \level{Matching} task.