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Erwan Normand
2024-06-26 19:02:04 +02:00
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2-perception/ar-textures/2-experiment.tex
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\sublabel{experiment}
\begin{subfigs}{setup}{%
(Left) The nine visuo-haptic textures used in the user study, selected from the HaTT database~\cite{culbertson2014one}. %
The texture names were never shown, so as to prevent the use of the user's visual or haptic memory of the textures.
(Middle) Experimental setup. %
Participant sat in front of the tangible surfaces, which were augmented with visual textures displayed by the HoloLens~2 AR headset and haptic roughness textures rendered by the vibrotactile haptic device placed on the middle index phalanx. %
A webcam above the surfaces tracked the finger movements.
(Right) First person view of the user study, as seen through the immersive AR headset HoloLens~2. %
The visual texture overlays are statically displayed on the surfaces, allowing the user to move around to view them from different angles. %
The haptic roughness texture is generated based on HaTT data-driven texture models and finger speed, and it is rendered on the middle index phalanx as it slides on the considered surface.%
}
\subfig[0.32]{experiment/textures}%
\subfig[0.32]{experiment/setup}%
\subfig[0.32]{experiment/view}%
(Left) The nine visuo-haptic textures used in the user study, selected from the HaTT database~\autocite{culbertson2014one}. %
The texture names were never shown, so as to prevent the use of the user's visual or haptic memory of the textures.
(Middle) Experimental setup. %
Participant sat in front of the tangible surfaces, which were augmented with visual textures displayed by the HoloLens~2 AR headset and haptic roughness textures rendered by the vibrotactile haptic device placed on the middle index phalanx. %
A webcam above the surfaces tracked the finger movements.
(Right) First person view of the user study, as seen through the immersive AR headset HoloLens~2. %
The visual texture overlays are statically displayed on the surfaces, allowing the user to move around to view them from different angles. %
The haptic roughness texture is generated based on HaTT data-driven texture models and finger speed, and it is rendered on the middle index phalanx as it slides on the considered surface.%
}
\subfig[0.32]{experiment/textures}%
\subfig[0.32]{experiment/setup}%
\subfig[0.32]{experiment/view}%
\end{subfigs}
The user study aimed at analyzing the user perception of tangible 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:
Nine representative visuo-haptic texture pairs from the HaTT database~\autocite{culbertson2014one} were investigated in two tasks:
%
(1) a matching task, where participants had to find the haptic texture that best matched a given visual texture; and (2) a ranking task, where participants had to rank only the haptic textures, only the visual textures, and the visuo-haptic texture pairs according to their perceived roughness.
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@@ -28,7 +28,7 @@ Our objective is to assess which haptic textures were associated with which visu
\subsection{The textures}
\sublabel{textures}
The 100 visuo-haptic texture pairs of the HaTT database~\cite{culbertson2014one} were preliminary tested and compared using AR and vibrotactile haptic feedback on the finger on a tangible surface.
The 100 visuo-haptic texture pairs of the HaTT database~\autocite{culbertson2014one} were preliminary tested and compared using AR and vibrotactile haptic feedback on the finger on a tangible surface.
%
These texture models were chosen as they are visuo-haptic representations of a wide range of real textures that are publicly available online.
%
@@ -52,17 +52,17 @@ Positioned \qty{20}{\cm} above the surfaces, a webcam (StreamCam, Logitech) film
%
The visual textures were displayed on the tangible surfaces using the HoloLens~2 OST-AR headset (see \figref{setup}, middle and right) within a \qtyproduct{43 x 29}{\degree} field of view at \qty{60}{\Hz}; a set of empirical tests enabled us to choose the best rendering characteristics in terms of transparency and brightness for the visual textures, that were used throughout the user study.
%
When a haptic texture was touched, a \qty{48}{kHz} audio signal was generated using the corresponding HaTT haptic texture model and the measured tangential speed of the finger, using the rendering procedure described in Culbertson \etal~\cite{culbertson2014modeling}.
When a haptic texture was touched, a \qty{48}{kHz} audio signal was generated using the corresponding HaTT haptic texture model and the measured tangential speed of the finger, using the rendering procedure described in Culbertson \etal~\autocite{culbertson2014modeling}.
%
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.
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~\autocite{culbertson2015should}, who found that the HaTT textures can be rendered using only the speed as input without decreasing their perceived realism.
%
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 3D-printed plastic shell firmly attached to the middle index phalanx of the participant's dominant hand, similarly to previous studies~\autocite{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.
This latency was below the \qty{60}{\ms} threshold for vibrotactile feedback \autocite{okamoto2009detectability} and was not noticed by the participants.
%
The user study was held in a quiet room with no windows, with one light source of \qty{800}{\lumen} placed \qty{70}{\cm} above the table.
@@ -90,7 +90,7 @@ The placement of the haptic textures was randomized before each trial.
%
Participants were instructed to look closely at the details of the visual textures and explore the haptic textures with a constant pressure and various speeds to find the haptic texture that best matched the visual texture, \ie choose the surface with the most coherent visual-haptic texture pair.
%
The texture names were never given or shown to prevent the use of visual or haptic memory of the textures, nor a definition of what roughness is was given, so as to let participants complete the task as naturally as possible, similarly to Bergmann Tiest \etal~\cite{bergmanntiest2007haptic}.
The texture names were never given or shown to prevent the use of visual or haptic memory of the textures, nor a definition of what roughness is was given, so as to let participants complete the task as naturally as possible, similarly to Bergmann Tiest \etal~\autocite{bergmanntiest2007haptic}.
Then, participants performed the \emph{ranking task}, employing the same setup as the matching task and the same 9 textures.
%