erwan/phd-thesis
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Complete vhar_system conclusion

Browse Source
This commit is contained in:
Erwan Normand
2024-10-01 11:18:32 +02:00
parent 53a45d62a7
commit afb96c7ff1
10 changed files with 55 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
2-perception/vhar-system/1-introduction.tex
View File

@@ -9,7 +9,7 @@ In this chapter, we propose a \textbf{system for rendering visual and haptic vir
It is implemented with an immersive \OST-\AR headset Microsoft HoloLens~2 and a wearable vibrotactile (voice-coil) device worn on the outside of finger (not covering the fingertip, \secref[related_work]{vhar_haptics}).
The visuo-haptic augmentations can be \textbf{viewed from any angle} and \textbf{explored freely with the bare finger}, as if they were real textures.
To ensure both real-time and reliable renderings, the hand and the tangibles are tracked using a webcam and marker-based tracking.
The haptic textures are rendered as a real-time vibrotactile signal representing a patterned grating texture that is synchronized with the finger movement on the augmented tangible surface.
The haptic textures are rendered as a vibrotactile signal representing a patterned grating texture that is synchronized with the finger movement on the augmented tangible surface.
\noindentskip The contributions of this chapter are:
\begin{itemize}
@@ -19,5 +19,13 @@ The haptic textures are rendered as a real-time vibrotactile signal representing
\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.
% We describe a system for rendering vibrotactile roughness textures in real time, on any tangible surface, touched directly with the index fingertip, with no constraints on hand movement and using a simple camera to track the finger pose.
% We also describe how to pair this tactile rendering with an immersive \AR or \VR headset visual display to provide a coherent, multimodal visuo-haptic augmentation of the \RE.
\bigskip
\begin{subfigs}{setup}{Visuo-haptic texture rendering system setup. }[][
\item HapCoil-One voice-coil actuator with a fiducial marker on top attached to the middle-phalanx of the user's index finger.
\item Our implementation of the system using a Microsoft HoloLens~2, a webcam for tracking the hand and the tangible surfaces, and an external computer for processing the tracking data and rendering the haptic textures.
]
\subfigsheight{60mm}
\subfig{device}
\subfig{apparatus}
\end{subfigs}