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Replace "immersive AR" with "AR headset"

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Erwan Normand
2025-04-11 22:51:10 +02:00
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3-perception/vhar-textures/1-introduction.tex
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\label{intro}
In the previous chapter, we investigated the role of the visual feedback of the virtual hand and the environment (\AR \vs \VR) on the perception of wearable haptic texture augmentation.
In this chapter, we explore the perception of wearable visuo-haptic texture augmentation of real surfaces touched directly with the finger in an immersive \AR context and without a virtual hand overlay.
In this chapter, we explore the perception of wearable visuo-haptic texture augmentation of real surfaces touched directly with the finger.
When we look at the surface of an everyday object, we then touch it to confirm or contrast our initial visual impression and to estimate the properties of the object, particularly its texture (\secref[related_work]{visual_haptic_influence}).
Among the various haptic texture augmentations, data-driven methods allow to capture, model and reproduce the roughness perception of real surfaces when touched by a hand-held stylus (\secref[related_work]{texture_rendering}).
Databases of visuo-haptic textures have been developed in this way \cite{culbertson2014one,balasubramanian2024sens3}, but they have not yet been explored in an immersive and direct touch context with \AR and wearable haptics.
Databases of visuo-haptic textures have been developed in this way \cite{culbertson2014one,balasubramanian2024sens3}, but they have not yet been explored in a direct touch context with \AR and wearable haptics.
In this chapter, we investigate whether simultaneous and \textbf{co-localized visual and wearable haptic texture augmentation of real surfaces} in \AR 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.
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.
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.
\noindentskip The contributions of this chapter are:
\begin{itemize}
\item Transposition of data-driven visuo-haptic textures to augment real objects in a direct touch context in immersive \AR.
\item Transposition of data-driven visuo-haptic textures to augment real objects in a direct touch context in \AR.
\item A user study evaluating with 20 participants the coherence, realism and perceived roughness of nine pairs of these visuo-haptic texture augmentations.
\end{itemize}
\smallskip
\fig[0.55]{experiment/view}{First person view of the user study.}[
%As seen through the immersive \AR headset.
The visual texture overlays were statically displayed on the surfaces, allowing the user to move around to view them from different angles.
The haptic texture augmentations were generated based on \HaTT data-driven texture models and finger speed, and were rendered on the middle index phalanx.% as it slides on the considered surface.
The haptic texture augmentations were generated based on \HaTT data-driven texture models and finger speed, and were rendered on the middle index phalanx.
]
\noindentskip In the next sections, we first describe the apparatus of the user study experimental design, including the two tasks performed. We then present the results obtained and discuss them before concluding.

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3-perception/vhar-textures/4-discussion.tex
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@@ -29,7 +29,7 @@ Several strategies were reported: some participants first classified visually an
While visual sensation did influence perception, as observed in previous haptic \AR studies \cite{punpongsanon2015softar,gaffary2017ar,fradin2023humans}, haptic sensation dominated here.
This indicates that participants were more confident and relied more on the haptic roughness perception than on the visual roughness perception when integrating both in one coherent perception.
Several participants also described attempting to identify visual and haptic textures using spatial breaks, edges or patterns, that were not reported when these textures were displayed in non-immersive \VEs with a screen \cite{culbertson2014modeling,culbertson2015should}.
Several participants also described attempting to identify visual and haptic textures using spatial breaks, edges or patterns, that were not reported when these textures were displayed in \VEs using a screen \cite{culbertson2014modeling,culbertson2015should}.
A few participants even reported that they clearly sensed patterns on haptic textures.
However, the visual and haptic textures used were isotropic and homogeneous models of real texture captures, \ie their rendered roughness was constant and did not depend on the direction of movement but only on the speed of the finger (\secref[related_work]{texture_rendering}).
Overall, the haptic device was judged to be comfortable, and the visual and haptic textures were judged to be fairly realistic and to work well together (\figref{results_questions}).

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3-perception/vhar-textures/5-conclusion.tex
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\section{Conclusion}
\label{conclusion}
In this chapter, we investigated how users perceived simultaneous and co-localized visuo-haptic texture augmentations of real surfaces seen in immersive \OST-\AR and touched directly with the index finger.
In this chapter, we investigated how users perceived simultaneous and co-localized visuo-haptic texture augmentations of real surfaces seen with an \OST-\AR headset and touched directly with the index finger.
Using the wearable visuo-haptic augmentation system presented in \chapref{vhar_system}, the haptic roughness texture was rendered with on the \HaTT data-driven models and finger speed.
In a user study, 20 participants rated the coherence, realism and perceived roughness of the combination of nine representative visuo-haptic texture pairs.
@@ -15,7 +15,7 @@ This paves the way for new \AR applications capable of augmenting a real environ
The latter is illustrated in \figref{experiment/use_case}, where a user applies different visuo-haptic textures to a wall, in an interior design scenario, to compare them visually and by touch.
We instinctively perceive the properties of everyday objects by touching and exploring them, but we essentially interact with them by grasping in order to manipulate them.
In this first part, we focused on the perception of wearable and immersive virtual textures that augment real surfaces when touched with the fingertip.
In this first part, we focused on the perception of virtual visuo-haptic textures that augment real surfaces when touched with the fingertip.
In the next part, we will propose to improve the direct manipulation with the hand of virtual object with wearable visuo-haptic interaction feedback.
\noindentskip The work described in \chapref{vhar_textures} was presented at the EuroHaptics 2024 conference: