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tangible -> real

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Erwan Normand
2024-10-12 15:24:56 +02:00
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1-background/related-work/4-visuo-haptic-ar.tex
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@@ -17,7 +17,7 @@ It is essential to understand how a multimodal visuo-haptic rendering of a \VO i
\label{sensations_perception}
A \emph{perception} is the merging of multiple sensations from different sensory modalities (visual, cutaneous, proprioceptive, etc.) about the same event or object property \cite{ernst2004merging}.
For example, it is the haptic hardness perceived through skin pressure and force sensations (\secref{hardness}), the hand movement from proprioception and a visual hand avatar (\secref{ar_displays}), or the perceived size of a tangible with a co-localized \VO (\secref{ar_tangibles}).
For example, it is the haptic hardness perceived through skin pressure and force sensations (\secref{hardness}), the hand movement from proprioception and a visual hand avatar (\secref{ar_displays}), or the perceived size of a real object with a co-localized \VO (\secref{ar_tangibles}).
If the sensations are redundant, \ie if only one sensation could suffice to estimate the property, they are integrated to form a single perception \cite{ernst2004merging}.
No sensory information is completely reliable and may give different answers to the same property when measured multiple times, \eg the weight of an object.
@@ -63,7 +63,7 @@ The \MLE model implies that when seeing and touching a \VO in \AR, the combinati
%As long as the user is able to associate the sensations as the same object property, and even if there are discrepancies between the sensations, the overall perception can be influenced by changing one of the stimuli, as discussed in the next sections.
%for example by including tangible objects, wearable haptic feedback, or even by altering the visual rendering of the \VO, as discussed in the next sections.
\subsubsection{Influence of Visual Rendering on Tangible Perception}
\subsubsection{Influence of Visual Rendering on Haptic Perception}
\label{visual_haptic_influence}
Thus, a visuo-haptic perception of an object's property is robust to some difference between the two sensory modalities, as long as one can match their respective sensations to the same property.
@@ -74,19 +74,19 @@ The overall perception can then be modified by changing one of the sensory modal
\textcite{yanagisawa2015effects} altered the perceived roughness, stiffness, and friction of real tactile materials touched by the finger by superimposing different real visual textures using a half-mirror.
In a similar setup, but in immersive \VST-\AR, \textcite{kitahara2010sensory} overlaid visual textures on real textured surfaces touched through a glove: many visual textures were found to match the real haptic textures.
\textcite{degraen2019enhancing} and \textcite{gunther2022smooth} also combined multiple \VOs in \VR with \ThreeD-printed hair structures or with everyday real surfaces, respectively.
They found that the visual perception of roughness and hardness influenced the haptic perception, and that only a few tangibles seemed to be sufficient to match all the visual \VOs (\figref{gunther2022smooth}).
They found that the visual perception of roughness and hardness influenced the haptic perception, and that only a few real, tangible objects seemed to be sufficient to match all the visual \VOs (\figref{gunther2022smooth}).
%Taken together, these studies suggest that a set of haptic textures, real or virtual, can be perceived as coherent with a larger set of visual virtual textures.
\fig{gunther2022smooth}{In a passive touch context in \VR, only a smooth and a rough real surfaces were found to match all the visual \VOs \cite{gunther2022smooth}.}
Visual feedback can even be intentionally designed to influence haptic perception, usually by deforming the visual representation of a user input, creating a \enquote{pseudo-haptic feedback} \cite{ujitoko2021survey}.
For example, in a fixed \VST-\AR screen (\secref{ar_displays}), by visually deforming the geometry of a tangible object touched by the hand, as well as the touching hand, the visuo-haptic perception of the size, shape, or curvature can be altered \cite{ban2013modifying,ban2014displaying}.
\textcite{punpongsanon2015softar} used this technique in spatial \AR (\secref{ar_displays}) to induce a softness illusion of a hard tangible object by superimposing a virtual texture that deforms when pressed by the hand (\figref{punpongsanon2015softar}).
For example, in a fixed \VST-\AR screen (\secref{ar_displays}), by visually deforming the geometry of a real object touched by the hand, as well as the touching hand, the visuo-haptic perception of the size, shape, or curvature can be altered \cite{ban2013modifying,ban2014displaying}.
\textcite{punpongsanon2015softar} used this technique in spatial \AR (\secref{ar_displays}) to induce a softness illusion of a hard real surface by superimposing a virtual texture that deforms when pressed by the hand (\figref{punpongsanon2015softar}).
\textcite{ujitoko2019modulating} increased the perceived roughness of a virtual patterned texture rendered as vibrations through a hand-held stylus (\secref{texture_rendering}) by adding small oscillations to the visual feedback of the stylus on a screen.
\begin{subfigs}{pseudo_haptic}{Pseudo-haptic feedback in \AR. }[][
\item A virtual soft texture projected on a table and that deforms when pressed by the hand \cite{punpongsanon2015softar}.
\item Modifying visually a tangible object and the hand touching it in \VST-\AR to modify its perceived shape \cite{ban2014displaying}.
\item Modifying visually a real object and the hand touching it in \VST-\AR to modify its perceived shape \cite{ban2014displaying}.
]
\subfigsheight{42mm}
\subfig{punpongsanon2015softar}
@@ -167,7 +167,7 @@ This approach was later extended by \textcite{teng2021touch} with Touch\&Fold, a
This moving platform also contains a \LRA (\secref{moving_platforms}) and provides contact pressure and texture sensations.
%The whole system is very compact (\qtyproduct{24 x 24 x 41}{\mm}), lightweight (\qty{9.5}{\g}), and fully portable by including a battery and Bluetooth wireless communication. \qty{20}{\ms} for the Bluetooth
When touching \VOs in \OST-\AR with the index finger, this device was found to be more realistic overall (5/7) than vibrations with a \LRA at \qty{170}{\Hz} on the nail (3/7).
Still, there is a high (\qty{92}{\ms}) latency for the folding mechanism and this design is not suitable for augmenting real tangible objects.
Still, there is a high (\qty{92}{\ms}) latency for the folding mechanism and this design is not suitable for augmenting real objects.
% teng2021touch: (5.27+3.03+5.23+5.5+5.47)/5 = 4.9
% ando2007fingernailmounted: (2.4+2.63+3.63+2.57+3.2)/5 = 2.9