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Erwan Normand
2024-09-22 15:28:36 +02:00
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10
3-manipulation/visuo-haptic-hand/2-method.tex
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@@ -32,13 +32,13 @@ We evaluated both the delocalized positioning and the contact vibration techniqu
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\begin{itemize}
\item \textit{Fingertips (Tips):} Vibrating actuators were placed right above the nails, similarly to~\cite{ando2007fingernailmounted}. This is the positioning closest to the fingertips.
\item \textit{Fingertips (Tips):} Vibrating actuators were placed right above the nails, similarly to \cite{ando2007fingernailmounted}. This is the positioning closest to the fingertips.
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\item \textit{Proximal Phalanges (Prox):} Vibrating actuators were placed on the dorsal side of the proximal phalanges, similarly to~\cite{maisto2017evaluation, meli2018combining, chinello2020modular}.
\item \textit{Proximal Phalanges (Prox):} Vibrating actuators were placed on the dorsal side of the proximal phalanges, similarly to \cite{maisto2017evaluation, meli2018combining, chinello2020modular}.
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\item \textit{Wrist (Wris):} Vibrating actuators providing contacts rendering for the index and thumb were placed on ulnar and radial sides of the wrist, similarly to~\cite{pezent2019tasbi, palmer2022haptic, sarac2022perceived}.
\item \textit{Wrist (Wris):} Vibrating actuators providing contacts rendering for the index and thumb were placed on ulnar and radial sides of the wrist, similarly to \cite{pezent2019tasbi, palmer2022haptic, sarac2022perceived}.
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\item \textit{Opposite fingertips (Oppo):} Vibrating actuators were placed on the fingertips of contralateral hand, also above the nails, similarly to~\cite{prattichizzo2012cutaneous, detinguy2018enhancing}.
\item \textit{Opposite fingertips (Oppo):} Vibrating actuators were placed on the fingertips of contralateral hand, also above the nails, similarly to \cite{prattichizzo2012cutaneous, detinguy2018enhancing}.
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\item \textit{Nowhere (Nowh):} As a reference, we also considered the case where we provided no vibrotactile rendering.
\end{itemize}
@@ -121,7 +121,7 @@ Apparatus and protocol were very similar to the first experiment, as described i
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We report here only the differences.
We employed the same vibrotactile device used by~\cite{devigne2020power}.
We employed the same vibrotactile device used by \cite{devigne2020power}.
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It is composed of two encapsulated Eccentric Rotating Mass (ERM) vibration motors (Pico-Vibe 304-116, Precision Microdrive, UK).
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8
3-manipulation/visuo-haptic-hand/4-discussion.tex
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@@ -71,7 +71,7 @@ This apparent paradox could be explained in two ways.
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On the one hand, participants behave differently when the haptic rendering was given on the fingers, close to the contact point, with shorter pushes and larger grip apertures.
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This behavior has likely given them a better experience of the tasks and more confidence in their actions, as well as leading to a lower interpenetration/force applied to the cube~\cite{pacchierotti2015cutaneous}.
This behavior has likely given them a better experience of the tasks and more confidence in their actions, as well as leading to a lower interpenetration/force applied to the cube \cite{pacchierotti2015cutaneous}.
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On the other hand, the unfamiliarity of the contralateral hand positioning caused participants to spend more time understanding the haptic stimuli, which might have made them more focused on performing the task.
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@@ -83,9 +83,9 @@ Finally, it was interesting to note that the visual hand renderings was apprecia
As we already said in \secref[visual_hand]{discussion}, these results have some limitations as they address limited types of visuo-haptic renderings and manipulations were restricted to the thumb and index fingertips.
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While the simpler vibration technique (Impact technique) was sufficient to confirm contacts with the cube, richer vibrotactile renderings may be required for more complex interactions, such as collision or friction renderings between objects~\cite{kuchenbecker2006improving, pacchierotti2015cutaneous} or texture rendering~\cite{culbertson2014one, asano2015vibrotactile}.
While the simpler vibration technique (Impact technique) was sufficient to confirm contacts with the cube, richer vibrotactile renderings may be required for more complex interactions, such as collision or friction renderings between objects \cite{kuchenbecker2006improving, pacchierotti2015cutaneous} or texture rendering \cite{culbertson2014one, asano2015vibrotactile}.
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More generally, a broader range of haptic sensations should be considered, such as pressure or stretching of the skin~\cite{maisto2017evaluation, teng2021touch}.
More generally, a broader range of haptic sensations should be considered, such as pressure or stretching of the skin \cite{maisto2017evaluation, teng2021touch}.
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However, moving the point of application of the sensation away may be challenging for some types of haptic rendering.
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@@ -93,4 +93,4 @@ Similarly, as the interactions were limited to the thumb and index fingertips, p
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Also, given that some users found the vibration rendering too strong, adapting/personalizing the haptic feedback to one's preference (and body positioning) might also be a promising approach.
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Indeed, personalized haptics is recently gaining interest in the community~\cite{malvezzi2021design, umair2021exploring}.
Indeed, personalized haptics is recently gaining interest in the community \cite{malvezzi2021design, umair2021exploring}.