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3-perception/vhar-textures/1-introduction.tex

@@ -10,7 +10,7 @@ Databases of visuo-haptic textures have been developed in this way \cite{culbert
 
 In this chapter, we consider simultaneous and \textbf{co-localized visual and wearable haptic texture augmentation of real surfaces} with an \OST-\AR headset and wearable vibrotactile feedback.
 We investigate how these textures 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.
-We used nine pairs of \textbf{data-driven visuo-haptic textures} from the \HaTT database \cite{culbertson2014one}, which we rendered using the wearable visuo-haptic augmentation system presented in \chapref{vhar_system}. %, an \OST-\AR headset, and a wearable voice-coil device worn on the finger.
+We used nine pairs of \textbf{data-driven visuo-haptic textures} from the \HaTT database \cite{culbertson2014one}, which we rendered using the wearable visuo-haptic augmentation system presented in \chapref{vhar_system}.
 In a \textbf{user study}, 20 participants freely explored in direct touch the combination of the visuo-haptic texture pairs to rate their coherence, realism and perceived roughness.
 We aimed to assess \textbf{which haptic textures were matched with which visual textures}, how the roughness of the visual and haptic textures was perceived, and whether \textbf{the perceived roughness} could explain the matches made between them.
 

3-perception/vhar-textures/2-experiment.tex

@@ -1,19 +1,10 @@
 \section{User Study}
 \label{experiment}
 
-%The user study aimed at analyzing the user perception of real surfaces when augmented through a visuo-haptic texture using \AR and vibrotactile haptic feedback provided on the finger touching the surfaces.
-%Nine representative visuo-haptic texture pairs from the \HaTT database \cite{culbertson2014one} were investigated in two tasks:
-%\begin{enumerate}
-%  \item \level{Matching} task: participants had to find the haptic texture that best matched a given visual texture; and
-%  \item \level{Ranking} task: participants had to rank the haptic textures, the visual textures, and the visuo-haptic texture pairs according to their perceived roughness.
-%\end{enumerate}
-%Our objective is to assess which haptic textures were associated with which visual textures, how the roughness of the visual and haptic textures are perceived, and whether the perceived roughness can explain the matches made between them.
-
 \subsection{The textures}
 \label{textures}
 
 The 100 visuo-haptic texture pairs of the \HaTT database \cite{culbertson2014one} were preliminary tested and compared using the apparatus described in \secref{apparatus} to select the most representative textures for the user study.
-% visuo-haptic system presented in \chapref{vhar_system}, and with the vibrotactile haptic feedback provided on the middle-phalanx of the finger touching a real surface. on the finger on a real surface
 These texture models were chosen as they are visuo-haptic representations of a wide range of real textures that are publicly available online.
 Nine texture pairs were selected (\figref{experiment/textures}) to cover various perceived roughness, from rough to smooth, as named on the database: \level{Metal Mesh}, \level{Sandpaper~100}, \level{Brick~2}, \level{Cork}, \level{Sandpaper~320}, \level{Velcro Hooks}, \level{Plastic Mesh~1}, \level{Terra Cotta}, \level{Coffee Filter}.
 All these visual and haptic textures are isotropic: their rendering (appearance or roughness) is the same whatever the direction of the movement on the surface, \ie there are no local deformations (holes, bumps, or breaks).
@@ -35,10 +26,6 @@ When a virtual haptic texture was touched, a \qty{48}{kHz} audio signal was gene
 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 \textcite{culbertson2015should}, who found that the \HaTT textures can be rendered using only the speed as input without decreasing their perceived realism.
 The rendering of the virtual texture is described in \secref[vhar_system]{texture_generation}.
 The vibrotactile voice-coil actuator (HapCoil-One, Actronika) was firmly attached to the middle index phalanx of the participant's dominant hand using a Velcro strap, 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}.
-%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}.
-%Overall latency was measured to \qty{46 \pm 6}{\ms}, as a result of latency in image acquisition \qty{16 \pm 1}{\ms}, fiducial marker detection \qty{8 \pm 3}{\ms}, network synchronization \qty{4 \pm 1}{\ms}, audio sampling \qty{3 \pm 1}{\ms}, and the vibrotactile actuator latency (\qty{15}{\ms}, as specified by the manufacturer\footnotemark[5]).
-%This latency was below the \qty{60}{\ms} threshold for vibrotactile feedback \cite{okamoto2009detectability} and was not noticed by the participants.
 
 \begin{subfigs}{setup}{Textures used and experimental setup of the user study. }[][
   \item The nine visuo-haptic textures used in the user study, selected from the \HaTT database \cite{culbertson2014one}.
@@ -56,7 +43,6 @@ The vibrotactile voice-coil actuator (HapCoil-One, Actronika) was firmly attache
 
 Participants were first given written instructions about the experimental setup, the tasks, and the procedure of the user study.
 Then, after having signed an informed consent form, they were asked to seat in front of the table with the experimental setup and to wear the \AR headset.
-%The experimenter firmly attached the plastic shell encasing the vibrotactile actuator to the middle index phalanx of their dominant hand.
 As the haptic textures generated no audible noise, participants did not wear any noise reduction headphones.
 A calibration of both the HoloLens~2 and the finger pose estimation was performed to ensure the correct registration of the visuo-haptic textures and the real finger with the real surfaces, as described in \secref[vhar_system]{virtual_real_registration}.
 Finally, participants familiarized with the augmented surface in a \qty{2}{min} training session with textures different from the ones used in the user study.
@@ -89,8 +75,6 @@ A total of 9 textures \x 3 repetitions = 18 matching trials were performed per p
 In the \level{Ranking} task, participants had to rank the haptic textures, the visual textures, and the visuo-haptic texture pairs according to their perceived roughness.
 It had one within-subjects factor, \factor{Modality} with the following levels: \level{Visual}, \level{Haptic}, \level{Visuo-Haptic}.
 Each modality level was ranked once per participant following the fixed order listed above (\secref{procedure}).
-%The order of \level{Modality} was fixed as listed above, and.
-%A total of 3 modalities = 60 ranking trials were collected.
 
 \subsection{Participants}
 \label{participants}