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Erwan Normand
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@@ -7,12 +7,12 @@ We conclude this thesis manuscript by summarizing our contributions and the main
\section{Summary}
In this manuscript, we showed how wearable haptics, worn on the outside of the hand, can improve direct hand interaction in immersive \AR. % by augmenting the perception of the real and manipulation of the virtual.
In this manuscript, we showed how wearable haptics can improve direct hand interaction in immersive \AR. % by augmenting the perception of the real and manipulation of the virtual.
Wearable haptics can provide rich tactile feedback on virtual objects and augment the perception of real objects, both directly touched by the hand, while preserving freedom of movement and interaction with the \RE.
However, their integration with \AR is still in its infancy and presents many design, technical and human challenges.
We have structured our research around two axes: \textbf{(I) modifying the visuo-haptic texture perception of real surfaces} and \textbf{(II) improving the manipulation of virtual objects}.
We have structured this thesis around two research axes: \textbf{(I) modifying the visuo-haptic texture perception of real surfaces} and \textbf{(II) improving the manipulation of virtual objects}.
\noindentskip In \partref{perception} we focused on modifying the perception of wearable and immersive virtual textures that augment real surfaces.
\noindentskip In \partref{perception}, we focused on modifying the perception of wearable and immersive virtual textures that augment real surfaces.
Texture is a fundamental property of an object, perceived equally by sight and touch.
It is also one of the most studied haptic augmentations, but has not yet been integrated into \AR or \VR.
We \textbf{(1) proposed a wearable visuo-haptic texture augmentation system}, \textbf{(2)} evaluated how the perception of haptic texture augmentations is \textbf{affected by the visual feedback of the virtual hand} and the environment (real, augmented, or virtual), and \textbf{(3)} investigated the \textbf{perception of co-localized visuo-haptic texture augmentations}.
@@ -21,7 +21,7 @@ In \chapref{vhar_system}, we presented a system for \textbf{augmenting any real
It allows \textbf{free visual and touch exploration} of the textures as if they were real, allowing the user to view them from different angles and touch them with the bare finger without constraints on hand movement.
The user studies in the next two chapters were based on this system.
In \chapref{xr_perception} we explored how the perception of wearable haptic augmented textures is affected by the visual feedback of the virtual hand and the environment, whether it is real, augmented or virtual.
In \chapref{xr_perception}, we explored how the perception of wearable haptic augmented textures is affected by the visual feedback of the virtual hand and the environment, whether it is real, augmented or virtual.
We augmented the perceived roughness of the real surface with virtual vibrotactile patterned textures and rendered the visual conditions by switching the \OST-\AR headset to a \VR-only view.
We then conducted a psychophysical user study with 20 participants to evaluate the perceived roughness augmentation in these three visual conditions.
The textures were perceived as \textbf{rougher when touched with the real hand alone compared to a virtual hand} in either \AR or \VR, possibly due to the \textbf{perceived latency} between finger movements and different visual, haptic, and proprioceptive feedbacks.
@@ -30,7 +30,7 @@ In \chapref{vhar_textures}, we investigated the perception of co-localized visua
We transposed the \textbf{data-driven visuo-haptic textures} from the \HaTT database to the system presented in \chapref{vhar_system} and conducted a user study with 20 participants to rate the coherence, realism, and perceived roughness of the combination of nine visuo-haptic texture pairs.
Participants integrated roughness sensations from both visual and haptic modalities well, with \textbf{haptics dominating perception}, and consistently identified and matched \textbf{clusters of visual and haptic textures with similar perceived roughness}.
\noindentskip In \partref{manipulation} we focused on improving the manipulation of virtual objects directly with the hand in immersive \OST-\AR.
\noindentskip In \partref{manipulation}, we focused on improving the manipulation of virtual objects directly with the hand in immersive \OST-\AR.
Our approach was to design visual augmentations of the hand and delocalized haptic feedback, based on the literature, and evaluate them in user studies.
We first considered \textbf{(1) the visual augmentation of the hand} and then the \textbf{(2)} combination of different \textbf{visuo-haptic feedback of the hand when manipulating virtual objects}.