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Erwan Normand
2024-09-27 22:10:59 +02:00
parent 8a85b14d3b
commit a9319210df
13 changed files with 51 additions and 47 deletions
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8
2-perception/ar-textures/2-experiment.tex
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@@ -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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