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Erwan Normand
2024-11-12 20:09:11 +01:00
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4-manipulation/visuo-haptic-hand/1-introduction.tex
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\section{Introduction}
\label{intro}
Providing haptic feedback during free-hand manipulation in \AR is not trivial, as wearing haptic devices on the hand might affect the tracking capabilities of the system \cite{pacchierotti2016hring}.
Providing haptic feedback during free-hand manipulation in \AR is not a trivial issue, as wearing haptic devices on the hand might affect the tracking capabilities of the system \cite{pacchierotti2016hring}.
Moreover, it is important to leave the user capable of interacting with both virtual and real objects, avoiding the use of haptic interfaces that cover the fingertips or palm.
For this reason, it is often considered beneficial to move the point of application of the haptic feedback elsewhere on the hand (\secref[related_work]{vhar_haptics}).
However, the impact of the positioning of the haptic feedback on the hand during direct hand manipulation in \AR has not been systematically studied.
Conjointly, a few studies have explored and compared the effects of visual and haptic feedback in tasks involving the manipulation of virtual objects with the hand.
\textcite{sarac2022perceived} and \textcite{palmer2022haptic} studied the effects of providing haptic feedback about contacts at the fingertips using haptic devices worn at the wrist, testing different mappings.
Their results proved that moving the haptic feedback away from the point(s) of contact is possible and effective, and that its impact is more significant when the visual feedback is limited.
Their results proved that moving the haptic feedback away from the point(s) of contact is possible and effective, and that its impact is more significant in the absence of the visual feedback of the virtual hand.
A final question is whether one or the other of these (haptic or visual) hand feedback should be preferred \cite{maisto2017evaluation,meli2018combining}, or whether a combined visuo-haptic feedback is beneficial for users.
However, these studies were conducted in non-immersive setups, with a screen displaying the \VE view.
In fact, both hand feedback can provide sufficient sensory feedback for efficient direct hand manipulation of virtual objects in \AR, or conversely, they can be shown to be complementary.

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4-manipulation/visuo-haptic-hand/5-conclusion.tex
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However, a wrist-mounted haptic device will be able to provide richer feedback by embedding more diverse haptic actuators with larger bandwidths and maximum amplitudes, while being less obtrusive than a ring.
Finally, we think that the visual hand augmentation complements the haptic contact rendering well by providing continuous feedback on the hand tracking, and that it can be disabled during the grasping phase to avoid redundancy with the haptic feedback of the contact with the virtual object.
\noindentskip This work was published in Transactions on Haptics:
\noindentskip The work described in \chapref{visual_hand} and \ref{visuo_haptic_hand} was published in Transactions on Haptics:
Erwan Normand, Claudio Pacchierotti, Eric Marchand, and Maud Marchal.
\enquote{Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality}.