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1-introduction/related-work/articles/4-xr-perception.tex

@@ -11,37 +11,37 @@ Yet visual and haptic sensations are often combined in everyday life, and it is
 \subsection{Augmenting Haptic Texture Roughness}
 \label{vibrotactile_roughness}
 
-When running a finger over a surface, the deformations and vibrations of the skin caused by the micro-height differences of the material induce the sensation of roughness~\cite{klatzky2003feeling}.
+When running a finger over a surface, the deformations and vibrations of the skin caused by the micro-height differences of the material induce the sensation of roughness \cite{klatzky2003feeling}.
 %
-%Several approaches have been proposed to render virtual haptic texture~\cite{culbertson2018haptics}.
+%Several approaches have been proposed to render virtual haptic texture \cite{culbertson2018haptics}.
 %
-%High-fidelity force feedback devices can reproduce patterned textures with great precision and provide similar perceptions to real textures, but they are expensive, have a limited workspace, and impose to hold a probe to explore the texture~\cite{unger2011roughness}.
+%High-fidelity force feedback devices can reproduce patterned textures with great precision and provide similar perceptions to real textures, but they are expensive, have a limited workspace, and impose to hold a probe to explore the texture \cite{unger2011roughness}.
 %
-%As more traditional force feedback systems are unable to accurately render such micro-details on a simulated surface, vibrotactile devices attached to the end effector instead generate vibrations to simulate interaction with the virtual texture~\cite{culbertson2018haptics}.
+%As more traditional force feedback systems are unable to accurately render such micro-details on a simulated surface, vibrotactile devices attached to the end effector instead generate vibrations to simulate interaction with the virtual texture \cite{culbertson2018haptics}.
 %
-%In this way, physics-based models~\cite{chan2021hasti,okamura1998vibration} and data-based models~\cite{culbertson2015should,romano2010automatic} have been developed and evaluated, the former being simpler but more approximate to real textures, and the latter being more realistic but limited to the captured textures.
+%In this way, physics-based models \cite{chan2021hasti,okamura1998vibration} and data-based models \cite{culbertson2015should,romano2010automatic} have been developed and evaluated, the former being simpler but more approximate to real textures, and the latter being more realistic but limited to the captured textures.
 %
 %Notably, \textcite{okamura1998vibration} rendered grating textures with exponentially decaying sinudoids that simulated the strokes of the grooves and ridges of the surface, while \textcite{culbertson2014modeling} captured and modelled the roughness of real surfaces to render them using the speed and force of the user.
 %
-An effective approach to rendering virtual roughness is to generate vibrations to simulate interaction with the virtual texture~\cite{culbertson2018haptics}, relying on the user's real-time measurements of position, velocity and force. % to modulate the frequencies and amplitudes of the vibrations, with position and velocity being the most important parameters~\cite{culbertson2015should}.
+An effective approach to rendering virtual roughness is to generate vibrations to simulate interaction with the virtual texture \cite{culbertson2018haptics}, relying on the user's real-time measurements of position, velocity and force. % to modulate the frequencies and amplitudes of the vibrations, with position and velocity being the most important parameters \cite{culbertson2015should}.
 %
-The perceived roughness of real surfaces can be then modified when touched by a tool with a vibrotactile actuator attached~\cite{culbertson2014modeling,ujitoko2019modulating} or directly with the finger wearing the vibrotactile actuator~\cite{asano2015vibrotactile,normand2024augmenting}, creating a haptic texture augmentation.
+The perceived roughness of real surfaces can be then modified when touched by a tool with a vibrotactile actuator attached \cite{culbertson2014modeling,ujitoko2019modulating} or directly with the finger wearing the vibrotactile actuator \cite{asano2015vibrotactile,normand2024augmenting}, creating a haptic texture augmentation.
 %
-%The objective is not just to render a virtual texture, but to alter the perception of a real, tangible surface, usually with wearable haptic devices, in what is known as haptic augmented reality (HAR)~\cite{bhatia2024augmenting,jeon2009haptic}.
+%The objective is not just to render a virtual texture, but to alter the perception of a real, tangible surface, usually with wearable haptic devices, in what is known as haptic augmented reality (HAR) \cite{bhatia2024augmenting,jeon2009haptic}.
 %
-One additional challenge of augmenting the finger touch is to keep the fingertip free to touch the real environment, thus delocalizing the actuator elsewhere on the hand~\cite{ando2007fingernailmounted,friesen2024perceived,normand2024visuohaptic,teng2021touch}.
+One additional challenge of augmenting the finger touch is to keep the fingertip free to touch the real environment, thus delocalizing the actuator elsewhere on the hand \cite{ando2007fingernailmounted,friesen2024perceived,normand2024visuohaptic,teng2021touch}.
 %
-Of course, the fingertip skin is not deformed by the virtual texture and only vibrations are felt, but it has been shown that the vibrations produced on the fingertip skin running over a real surface are texture specific and similar between individuals~\cite{manfredi2014natural}.
+Of course, the fingertip skin is not deformed by the virtual texture and only vibrations are felt, but it has been shown that the vibrations produced on the fingertip skin running over a real surface are texture specific and similar between individuals \cite{manfredi2014natural}.
 %
-A common method vibrotactile rendering of texture is to use a sinusoidal signal whose frequency is modulated by the finger position or velocity~\cite{asano2015vibrotactile,friesen2024perceived,strohmeier2017generating,ujitoko2019modulating}.
+A common method vibrotactile rendering of texture is to use a sinusoidal signal whose frequency is modulated by the finger position or velocity \cite{asano2015vibrotactile,friesen2024perceived,strohmeier2017generating,ujitoko2019modulating}.
 %
 It remains unclear whether such vibrotactile texture augmentation is perceived the same when integrated into visual AR or VR environments or touched with a virtual hand instead of the real hand.
 %
 %We also add a phase adjustment to this sinusoidal signal to allow free exploration movements of the finger with a simple camera-based tracking system.
 
-%Another approach is to use ultrasonic vibrating screens, which are able to modulate their friction~\cite{brahimaj2023crossmodal,rekik2017localized}.
+%Another approach is to use ultrasonic vibrating screens, which are able to modulate their friction \cite{brahimaj2023crossmodal,rekik2017localized}.
 %
-%Combined with vibrotactile rendering of roughness using a voice-coil actuator attached to the screen, they can produce realistic haptic texture sensations~\cite{ito2019tactile}.
+%Combined with vibrotactile rendering of roughness using a voice-coil actuator attached to the screen, they can produce realistic haptic texture sensations \cite{ito2019tactile}.
 %
 %However, this method is limited to the screen and does not allow to easily render textures on virtual (visual) objects or to alter the perception of real surfaces.
 
@@ -55,30 +55,30 @@ When the same object property is sensed simultaneously by vision and touch, the
 The phychophysical model of \textcite{ernst2002humans} established that the sense with the least variability dominates perception.
 %
 %In particular, this effect has been used to better understand the visuo-haptic perception of texture and to design better feedback for virtual objects.
-Particularly for real textures, it is known that both touch and sight individually perceive textures equally well and similarly~\cite{bergmanntiest2007haptic,baumgartner2013visual,vardar2019fingertip}.
+Particularly for real textures, it is known that both touch and sight individually perceive textures equally well and similarly \cite{bergmanntiest2007haptic,baumgartner2013visual,vardar2019fingertip}.
 %
 Thus, the overall perception can be modified by changing one of the modalities, as shown by \textcite{yanagisawa2015effects}, who altered the perception of roughness, stiffness and friction of some real tactile textures touched by the finger by superimposing different real visual textures using a half-mirror.
 %
 %Similarly but in VR, \textcite{degraen2019enhancing} combined visual textures with different passive haptic hair-like structure that were touched with the finger to induce a larger set of visuo-haptic materials perception.
 %
 %\textcite{gunther2022smooth} studied in a complementary way how the visual rendering of a virtual object touching the arm with a tangible object influenced the perception of roughness.
-Likewise, visual textures were combined in VR with various tangible objects to induce a larger set of visuo-haptic material perceptions, in both active touch~\cite{degraen2019enhancing} and passive touch~\cite{gunther2022smooth} contexts.
+Likewise, visual textures were combined in VR with various tangible objects to induce a larger set of visuo-haptic material perceptions, in both active touch \cite{degraen2019enhancing} and passive touch \cite{gunther2022smooth} contexts.
 %
 \textcite{normand2024augmenting} also investigated the roughness perception of tangible surfaces touched with the finger and augmented with visual textures in AR and with wearable vibrotactile textures.
 %
 %A common finding of these studies is that haptic sensations seem to dominate the perception of roughness, suggesting that a smaller set of haptic textures can support a larger set of visual textures.
 %
-Conversely, virtual hand rendering is also known to influence how an object is grasped in VR~\cite{prachyabrued2014visual,blaga2020too} and AR~\cite{normand2024visuohaptic}, or even how real bumps and holes are perceived in VR~\cite{schwind2018touch}, but its effect on the perception of a haptic texture augmentation has not yet been investigated.
+Conversely, virtual hand rendering is also known to influence how an object is grasped in VR \cite{prachyabrued2014visual,blaga2020too} and AR \cite{normand2024visuohaptic}, or even how real bumps and holes are perceived in VR \cite{schwind2018touch}, but its effect on the perception of a haptic texture augmentation has not yet been investigated.
 
 % \cite{degraen2019enhancing} and \cite{gunther2022smooth} showed that the visual rendering of a virtual object can influence the perception of its haptic properties.
 % \cite{yanagisawa2015effects} with real visual textures superimposed on touched real textures affected the perception of the touched textures.
 
-A few works have also used pseudo-haptic feedback to change the perception of haptic stimuli to create richer feedback by deforming the visual representation of a user input~\cite{ujitoko2021survey}.
+A few works have also used pseudo-haptic feedback to change the perception of haptic stimuli to create richer feedback by deforming the visual representation of a user input \cite{ujitoko2021survey}.
 %
-For example, %different levels of stiffness can be simulated on a grasped virtual object with the same passive haptic device~\cite{achibet2017flexifingers} or
-the perceived softness of tangible objects can be altered by superimposing in AR a virtual texture that deforms when pressed by the hand~\cite{punpongsanon2015softar}, or in combination with vibrotactile rendering in VR~\cite{choi2021augmenting}.
+For example, %different levels of stiffness can be simulated on a grasped virtual object with the same passive haptic device \cite{achibet2017flexifingers} or
+the perceived softness of tangible objects can be altered by superimposing in AR a virtual texture that deforms when pressed by the hand \cite{punpongsanon2015softar}, or in combination with vibrotactile rendering in VR \cite{choi2021augmenting}.
 %
-The vibrotactile sinusoidal rendering of virtual texture cited above was also combined with visual oscillations of a cursor on a screen to increase the roughness perception of the texture~\cite{ujitoko2019modulating}.
+The vibrotactile sinusoidal rendering of virtual texture cited above was also combined with visual oscillations of a cursor on a screen to increase the roughness perception of the texture \cite{ujitoko2019modulating}.
 %
 %However, the visual representation was a virtual cursor seen on a screen while the haptic feedback was felt with a hand-held device.
 %
@@ -95,8 +95,8 @@ Rendering a virtual piston pressed with one's real hand using a video see-throug
 %
 In a similar setup, but with an optical see-through (OST) AR headset, \textcite{gaffary2017ar} found that the virtual piston was perceived as less stiff in AR than in VR, without participants noticing this difference.
 %
-Using a VST-AR headset have notable consequences, as the "real" view of the environment and the hand is actually a visual stream from a camera, which has a noticeable delay and lower quality (\eg resolution, frame rate, field of view) compared to the direct view of the real environment with OST-AR~\cite{macedo2023occlusion}.
+Using a VST-AR headset have notable consequences, as the "real" view of the environment and the hand is actually a visual stream from a camera, which has a noticeable delay and lower quality (\eg resolution, frame rate, field of view) compared to the direct view of the real environment with OST-AR \cite{macedo2023occlusion}.
 %
-While a large literature has investigated these differences in visual perception, as well as for VR, \eg distances are underestimated~\cite{adams2022depth,peillard2019studying}, less is known about visuo-haptic perception in AR and VR.
+While a large literature has investigated these differences in visual perception, as well as for VR, \eg distances are underestimated \cite{adams2022depth,peillard2019studying}, less is known about visuo-haptic perception in AR and VR.
 %
 In this work we studied (1) the perception of a \emph{haptic texture augmentation} of a tangible surface and (2) the possible influence of the visual rendering of the environment (OST-AR or VR) and the hand touching the surface (real or virtual) on this perception.