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Better figures

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Erwan Normand
2024-09-24 15:07:13 +02:00
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3-manipulation/visuo-haptic-hand/2-method.tex
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@@ -24,11 +24,11 @@ We evaluated both the delocalized positioning and the contact vibration techniqu
\label{positioning}
\fig[0.30]{method/locations}{%
Experiment \#2: setup of the vibrotactile devices.
%
To ensure minimal encumbrance, we used the same two motors throughout the experiment, moving them to the considered positioning before each new experimental block (in this case, on the co-located proximal phalanges, \emph{Prox}).
%
Thin self-gripping straps were placed on the five considered positionings during the entirety of the experiment.
Experiment \#2: setup of the vibrotactile devices.
%
To ensure minimal encumbrance, we used the same two motors throughout the experiment, moving them to the considered positioning before each new experimental block (in this case, on the co-located proximal phalanges, \emph{Prox}).
%
Thin self-gripping straps were placed on the five considered positionings during the entirety of the experiment.
}
\begin{itemize}
@@ -72,29 +72,31 @@ Similarly, we designed the distance vibration technique (Dist) so that interpene
\subsection{Experimental Design}
\label{design}
\begin{subfigs}{tasks}{%
Experiment \#2. The two manipulation tasks: %
(a) pushing a virtual cube along a table toward a target placed on the same surface; %
(b) grasping and lifting a virtual cube toward a target placed on a \qty{20}{\cm} higher plane. %
Both pictures show the cube to manipulate in the middle (\qty{5}{\cm} and opaque) and the eight possible targets to reach (\qty{7}{\cm} cube and semi-transparent). %
Only one target at a time was shown during the experiments.%
}
\subfig[0.23]{method/task-push}
\subfig[0.23]{method/task-grasp}
\begin{subfigs}{tasks}{The two manipulation tasks of the user study. }[
Both pictures show the cube to manipulate in the middle (\qty{5}{\cm} and opaque) and the eight possible targets to reach (\qty{7}{\cm} cube and semi-transparent).
Only one target at a time was shown during the experiments.
][
\item Pushing a virtual cube along a table toward a target placed on the same surface.
\item Grasping and lifting a virtual cube toward a target placed on a \qty{20}{\cm} higher plane.
]
\subfig[0.23]{method/task-push}
\subfig[0.23]{method/task-grasp}
\end{subfigs}
\begin{subfigswide}{push_results}{%
Experiment \#2: Push task.
%
Geometric means with bootstrap 95~\% confidence interval for each vibrotactile positioning (a, b, and c) or visual hand rendering (d)
%
and Tukey's HSD pairwise comparisons: *** is \pinf{0.001}, ** is \pinf{0.01}, and * is \pinf{0.05}.
}
\subfig[0.24]{results/Push-CompletionTime-Location-Overall-Means}%[Time to complete a trial.]
\subfig[0.24]{results/Push-Contacts-Location-Overall-Means}%[Number of contacts with the cube.]
\subfig[0.24]{results/Push-TimePerContact-Location-Overall-Means}%[Mean time spent on each contact.]
\subfig[0.24]{results/Push-TimePerContact-Hand-Overall-Means}%[Mean time spent on each contact.]
\end{subfigswide}
\begin{subfigs}{push_results}{Results of the grasp task performance metrics. }[
Geometric means with bootstrap 95~\% confidence interval for each vibrotactile positioning (a, b and c) or visual hand rendering (d)
and Tukey's HSD pairwise comparisons: *** is \pinf{0.001}, ** is \pinf{0.01}, and * is \pinf{0.05}.
][
\item Time to complete a trial.
\item Number of contacts with the cube.
\item Mean time spent on each contact.
\item Mean time spent on each contact.
]
\subfig[0.24]{results/Push-CompletionTime-Location-Overall-Means}
\subfig[0.24]{results/Push-Contacts-Location-Overall-Means}
\subfig[0.24]{results/Push-TimePerContact-Location-Overall-Means}
\subfig[0.24]{results/Push-TimePerContact-Hand-Overall-Means}
\end{subfigs}
We considered the same two tasks as in Experiment \#1, described in \secref[visual_hand]{tasks}, that we analyzed separately, considering four independent, within-subject variables: