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2-perception/ar-textures/1-introduction.tex

@@ -10,9 +10,9 @@ By providing timely vibrations synchronized with the movement of the tool or the
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 In that sense, data-driven haptic textures have been developed as captures and models of real surfaces, resulting in the Penn Haptic Texture Toolkit (HaTT) database \cite{culbertson2014one}.
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-While these virtual haptic textures are perceived as similar to real textures \cite{culbertson2015should}, they have been evaluated using hand-held tools and not yet in a direct finger contact with the surface context, in particular combined with visual textures in an immersive virtual environment.
+While these virtual haptic textures are perceived as similar to real textures \cite{culbertson2015should}, they have been evaluated using hand-held tools and not yet in a direct finger contact with the surface context, in particular combined with visual textures in an immersive \VE.
 
-Combined with virtual reality (VR), where the user is immersed in a visual virtual environment, wearable haptic devices have also proven to be effective in modifying the visuo-haptic perception of tangible objects touched with the finger, without needing to modify the object \cite{asano2012vibrotactile,asano2015vibrotactile,salazar2020altering}.
+Combined with virtual reality (VR), where the user is immersed in a visual \VE, wearable haptic devices have also proven to be effective in modifying the visuo-haptic perception of tangible objects touched with the finger, without needing to modify the object \cite{asano2012vibrotactile,asano2015vibrotactile,salazar2020altering}.
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 Worn on the finger, but not directly on the fingertip to keep it free to interact with tangible objects, they have been used to alter perceived stiffness, softness, friction and local deformations \cite{detinguy2018enhancing,salazar2020altering}.
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@@ -26,7 +26,7 @@ These two factors have been shown to influence the perception of haptic stiffnes
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 It remains to be investigated whether simultaneous and co-localized visual and haptic texture augmentation of tangible surfaces in \AR can be perceived in a coherent and realistic manner, and to what extent each sensory modality would contribute to the overall perception of the augmented texture.
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-Being able to coherently substitute the visuo-haptic texture of an everyday surface directly touched by a finger is an important step towards new \AR applications capable of visually and haptically augmenting the real environment of a user in a plausible way.
+Being able to coherently substitute the visuo-haptic texture of an everyday surface directly touched by a finger is an important step towards new \AR applications capable of visually and haptically augmenting the \RE of a user in a plausible way.
 
 In this paper, we investigate how users perceive a tangible surface touched with the index finger when it is augmented with a visuo-haptic roughness texture using immersive optical see-through \AR (OST-AR) and wearable vibrotactile stimuli provided on the index.
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2-perception/ar-textures/2-experiment.tex

@@ -40,11 +40,11 @@ All these visual and haptic textures are isotropic: their rendering (appearance
 
 \figref{setup} shows the experimental setup (middle) and the first person view (right) of the user study.
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-Nine 5-cm square cardboards with smooth, white melamine surface, arranged in a 3 \x 3 grid, were used as real tangible surfaces to augment.
+Nine \qty{5}{\cm} square cardboards with smooth, white melamine surface, arranged in a \numproduct{3 x 3} grid, were used as real tangible surfaces to augment.
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-Their poses were estimated with three 2-cm-square AprilTag fiducial markers glued on the surfaces grid.
+Their poses were estimated with three \qty{2}{\cm} square AprilTag fiducial markers glued on the surfaces grid.
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-Similarly, a 2-cm-square fiducial marker was glued on top of the vibrotactile actuator to detect the finger pose.
+Similarly, a \qty{2}{\cm} square fiducial marker was glued on top of the vibrotactile actuator to detect the finger pose.
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 Positioned \qty{20}{\cm} above the surfaces, a webcam (StreamCam, Logitech) filmed the markers to track finger movements relative to the surfaces.
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@@ -54,7 +54,7 @@ When a haptic texture was touched, a \qty{48}{kHz} audio signal was generated us
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 The normal force on the texture was assumed to be constant at \qty{1.2}{\N} to generate the audio signal from the model, as Culbertson \etal \cite{culbertson2015should}, who found that the HaTT textures can be rendered using only the speed as input without decreasing their perceived realism.
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-An amplifier (XY-502, not branded) converted this audio signal to a current transmitted to the vibrotactile voice-coil actuator (HapCoil-One, Actronika), that was encased in a 3D-printed plastic shell firmly attached to the middle index phalanx of the participant's dominant hand, similarly to previous studies \cite{asano2015vibrotactile,friesen2024perceived}.
+An amplifier (XY-502, not branded) converted this audio signal to a current transmitted to the vibrotactile voice-coil actuator (HapCoil-One, Actronika), that was encased in a \ThreeD-printed plastic shell firmly attached to the middle index phalanx of the participant's dominant hand, similarly to previous studies \cite{asano2015vibrotactile,friesen2024perceived}.
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 This voice-coil actuator was chosen for its wide frequency range (\qtyrange{10}{1000}{\Hz}) and its relatively low acceleration distortion, as specified by the manufacturer\footnoteurl{https://www.actronika.com/haptic-solutions}.
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2-perception/ar-textures/4-discussion.tex

@@ -45,7 +45,7 @@ While visual sensation did influence perception, as observed in previous haptic
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 This indicates that participants were more confident and relied more on the haptic roughness perception than on the visual roughness perception when integrating both in one coherent perception.
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-Several participants also described attempting to identify visual and haptic textures using spatial breaks, edges or patterns, that were not observed when these textures were displayed in non-immersive virtual environments with a screen \cite{culbertson2014modeling,culbertson2015should}.
+Several participants also described attempting to identify visual and haptic textures using spatial breaks, edges or patterns, that were not observed when these textures were displayed in non-immersive \VEs with a screen \cite{culbertson2014modeling,culbertson2015should}.
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 A few participants even reported that they clearly sensed patterns on haptic textures.
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@@ -63,7 +63,7 @@ The perception of surface roughness with the finger is actually more complex bec
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 Another limitation that may have affected the perception of haptic textures is the lack of compensation for the frequency response of the actuator and amplifier \cite{asano2012vibrotactile,culbertson2014modeling,friesen2024perceived}.
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-Finally, the visual textures used were also simple color captures not meant to be used in an immersive virtual environment.
+Finally, the visual textures used were also simple color captures not meant to be used in an immersive \VE.
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 However, our objective was not to accurately reproduce real textures, but to alter the perception of simultaneous visual and haptic roughness augmentation of a real surface directly touched by the finger in \AR.
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2-perception/ar-textures/5-conclusion.tex

@@ -17,10 +17,10 @@ The results showed that participants consistently identified and matched cluster
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 The texture rankings did indeed show that participants perceived the roughness of haptic textures to be very similar, but less so for visual textures, and the haptic roughness perception predominated the final roughness perception ranking of the original visuo-haptic pairs.
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-There are still many improvements to be made to the respective renderings of the haptic and visual textures used in this work to make them more realistic for finger perception and immersive virtual environment contexts.
+There are still many improvements to be made to the respective renderings of the haptic and visual textures used in this work to make them more realistic for finger perception and immersive \VE contexts.
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 However, these results suggest that \AR visual textures that augments tangible surfaces can be enhanced with a set of data-driven vibrotactile haptic textures in a coherent and realistic manner.
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-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, object design or interior design contexts.
+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, object design or interior design contexts.
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 The latter is illustrated in \figref{experiment/use_case}, where a user applies different visuo-haptic textures to a wall to compare them visually and by touch.