erwan/phd-thesis
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Typo

Browse Source
This commit is contained in:
Erwan Normand
2024-11-12 20:09:11 +01:00
parent 592c0e90df
commit fafaec67ad
8 changed files with 25 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
3-perception/vhar-system/6-conclusion.tex
View File

@@ -13,9 +13,9 @@ The visual latency we measured is typical of \AR systems, and the haptic latency
This system forms the basis of the apparatus for the user studies presented in the next two chapters, which evaluate the user perception of these visuo-haptic texture augmentations. This system forms the basis of the apparatus for the user studies presented in the next two chapters, which evaluate the user perception of these visuo-haptic texture augmentations.
\noindentskip This work was presented and published at the VRST 2024 conference: %\noindentskip This work was presented and published at the VRST 2024 conference:
%
Erwan Normand, Claudio Pacchierotti, Eric Marchand, and Maud Marchal. %Erwan Normand, Claudio Pacchierotti, Eric Marchand, and Maud Marchal.
\enquote{How Different Is the Perception of Vibrotactile Texture Roughness in Augmented versus Virtual Reality?}. %\enquote{How Different Is the Perception of Vibrotactile Texture Roughness in Augmented versus Virtual Reality?}.
In: \textit{ACM Symposium on Virtual Reality Software and Technology}. Trier, Germany, October 2024. pp. 287--296. %In: \textit{ACM Symposium on Virtual Reality Software and Technology}. Trier, Germany, October 2024. pp. 287--296.

14
3-perception/vhar-textures/5-conclusion.tex
View File

@@ -6,21 +6,21 @@ Using the wearable visuo-haptic augmentation system presented in \chapref{vhar_s
In a user study, 20 participants rated the coherence, realism and perceived roughness of the combination of nine representative visuo-haptic texture pairs. In a user study, 20 participants rated the coherence, realism and perceived roughness of the combination of nine representative visuo-haptic texture pairs.
The results showed that participants consistently identified and matched clusters of visual and haptic textures with similar perceived roughness. The results showed that participants consistently identified and matched clusters of visual and haptic textures with similar perceived roughness.
The texture rankings did indeed show that participants perceived the roughness of haptic textures to be very similar, but less so for visual textures, and the haptic roughness perception predominated the final roughness perception ranking of the original visuo-haptic pairs. The texture rankings did indeed show that participants perceived the roughness of haptic textures to be very similar.
Conversely, there was less consensus on the perceived roughness of visual textures.
Regarding the final roughness perception ranking of the original visuo-haptic pairs, the haptic roughness sensation dominated the perception.
This suggests that \AR visual textures that augments real surfaces can be enhanced with a set of data-driven vibrotactile haptic textures in a coherent and realistic manner. This suggests that \AR visual textures that augments real surfaces can be enhanced with a set of data-driven vibrotactile haptic textures in a coherent and realistic manner.
This paves the way for new \AR applications capable of augmenting a \RE with virtual visuo-haptic textures, such as visuo-haptic painting in artistic or object design context, or viewing and touching virtual objects in a museum or a showroom. This paves the way for new \AR applications capable of augmenting a real environment with virtual visuo-haptic textures, such as visuo-haptic painting in artistic or object design context, or viewing and touching virtual objects in a museum or a showroom.
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. 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. 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 wearable and immersive virtual textures that augment real surfaces when touched with the fingertip.
In the next part, we improve the direct manipulation with the hand of virtual object with wearable visuo-haptic interaction feedback. 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 This work was presented and published at the EuroHaptics 2024 conference: \noindentskip The work described in \chapref{vhar_textures} was presented at the EuroHaptics 2024 conference:
Erwan Normand, Claudio Pacchierotti, Eric Marchand, and Maud Marchal. Erwan Normand, Claudio Pacchierotti, Eric Marchand, and Maud Marchal. \enquote{Augmenting the Texture Perception of Tangible Surfaces in Augmented Reality using Vibrotactile Haptic Stimuli}. In: \textit{EuroHaptics}. Lille, France, July 2024. pp. 469--484.
\enquote{Augmenting the Texture Perception of Tangible Surfaces in Augmented Reality using Vibrotactile Haptic Stimuli}.
In: \textit{EuroHaptics}. Lille, France, July 2024.
\fig[0.5]{experiment/use_case}{ \fig[0.5]{experiment/use_case}{
Illustration of the texture augmentation in \AR through an interior design scenario. Illustration of the texture augmentation in \AR through an interior design scenario.

5
3-perception/xr-perception/6-conclusion.tex
View File

@@ -8,7 +8,8 @@ With an immersive \AR headset, that could be switched to a \VR only view, we con
We then evaluated the perceived roughness augmentation in these three visual conditions with a psychophysical user study involving 20 participants and extensive questionnaires. We then evaluated the perceived roughness augmentation in these three visual conditions with a psychophysical user study involving 20 participants and extensive questionnaires.
Our results showed that the visual virtuality of the hand (real or virtual) and the environment (\AR or \VR) had a significant effect on the perception of haptic textures and the exploration behaviour of the participants. Our results showed that the visual virtuality of the hand (real or virtual) and the environment (\AR or \VR) had a significant effect on the perception of haptic textures and the exploration behaviour of the participants.
The textures were on average perceived as \enquote{rougher} and with a higher sensitivity when touched with the real hand alone than with a virtual hand either in \AR, with \VR in between. The textures were on average perceived as \enquote{rougher} when touched with the real hand alone than with a virtual hand either in \AR, with \VR in between.
Similarly, the sensitivity to differences in roughness was better with the real hand, less good with \AR, and in between with \VR.
Exploration behaviour was also slower in \VR than with real hand alone, although subjective evaluation of the texture was not affected. Exploration behaviour was also slower in \VR than with real hand alone, although subjective evaluation of the texture was not affected.
We hypothesised that this difference in perception was due to the \emph{perceived latency} between the finger movements and the different visual, haptic and proprioceptive feedbacks, which were the same in all visual renderings, but were more noticeable in \AR and \VR than without visual augmentation. We hypothesised that this difference in perception was due to the \emph{perceived latency} between the finger movements and the different visual, haptic and proprioceptive feedbacks, which were the same in all visual renderings, but were more noticeable in \AR and \VR than without visual augmentation.
@@ -23,7 +24,7 @@ When designing for wearable haptics or integrating it into \AR/\VR, it seems imp
In the next chapter we present a second user study where we investigate the perception of simultaneous and co-localised visual and haptic texture augmentation. In the next chapter we present a second user study where we investigate the perception of simultaneous and co-localised visual and haptic texture augmentation.
We will use the same system presented in \chapref{vhar_system} and a visual rendering condition similar to the \level{Real} condition of this study, in \AR without the virtual hand overlay. We will use the same system presented in \chapref{vhar_system} and a visual rendering condition similar to the \level{Real} condition of this study, in \AR without the virtual hand overlay.
\noindentskip This work was presented and published at the VRST 2024 conference: \noindentskip The work described in \chapref{vhar_system} and \ref{xr_perception} was presented at the VRST 2024 conference:
Erwan Normand, Claudio Pacchierotti, Eric Marchand, and Maud Marchal. Erwan Normand, Claudio Pacchierotti, Eric Marchand, and Maud Marchal.
\enquote{How Different Is the Perception of Vibrotactile Texture Roughness in Augmented versus Virtual Reality?}. \enquote{How Different Is the Perception of Vibrotactile Texture Roughness in Augmented versus Virtual Reality?}.

8
4-manipulation/visual-hand/5-conclusion.tex
View File

@@ -21,8 +21,8 @@ In addition to visual augmentation of the hand, direct manipulation of virtual o
In the next chapter, we explore two wearable vibrotactile contact feedback devices in a user study, located at four positionings on the hand so as to not cover the fingertips. In the next chapter, we explore two wearable vibrotactile contact feedback devices in a user study, located at four positionings on the hand so as to not cover the fingertips.
We evaluate their effect on user performance and experience in the same manipulation tasks as in this chapter, with the best visual hand augmentation found in this study. We evaluate their effect on user performance and experience in the same manipulation tasks as in this chapter, with the best visual hand augmentation found in this study.
\noindentskip This work was published in Transactions on Haptics: %\noindentskip This work was published in Transactions on Haptics:
Erwan Normand, Claudio Pacchierotti, Eric Marchand, and Maud Marchal. %Erwan Normand, Claudio Pacchierotti, Eric Marchand, and Maud Marchal.
\enquote{Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality}. %\enquote{Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality}.
In: \textit{IEEE Transactions on Haptics}. 27.4 (2024), pp. 2481--2487. %In: \textit{IEEE Transactions on Haptics}. 27.4 (2024), pp. 2481--2487.

4
4-manipulation/visuo-haptic-hand/1-introduction.tex
View File

@@ -1,14 +1,14 @@
\section{Introduction} \section{Introduction}
\label{intro} \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. 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}). 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. 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. 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. \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. 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. 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. 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.

2
4-manipulation/visuo-haptic-hand/5-conclusion.tex
View File

@@ -15,7 +15,7 @@ If integration with the hand tracking system allows it, and if the task requires
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. 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. 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. Erwan Normand, Claudio Pacchierotti, Eric Marchand, and Maud Marchal.
\enquote{Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality}. \enquote{Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality}.

2
5-conclusion/publications.tex
View File

@@ -12,7 +12,7 @@ In: \textit{IEEE Transactions on Haptics}. 27.4 (2024), pp. 2481--2487.
\textbf{Erwan Normand}, Claudio Pacchierotti, Eric Marchand, and Maud Marchal. \textbf{Erwan Normand}, Claudio Pacchierotti, Eric Marchand, and Maud Marchal.
\enquote{Augmenting the Texture Perception of Tangible Surfaces in Augmented Reality using Vibrotactile Haptic Stimuli}. \enquote{Augmenting the Texture Perception of Tangible Surfaces in Augmented Reality using Vibrotactile Haptic Stimuli}.
In: \textit{EuroHaptics}. Lille, France, July 2024. In: \textit{EuroHaptics}. Lille, France, July 2024. pp. 469--484.
%\textsc{doi}: \href{https://doi.org/}{} %\textsc{doi}: \href{https://doi.org/}{}
\noindentskip \noindentskip

3
references.bib
View File

@@ -2593,7 +2593,8 @@
title = {Augmenting the {{Texture Perception}} of {{Tangible Surfaces}} in {{Augmented Reality}} Using {{Vibrotactile Haptic Stimuli}}}, title = {Augmenting the {{Texture Perception}} of {{Tangible Surfaces}} in {{Augmented Reality}} Using {{Vibrotactile Haptic Stimuli}}},
booktitle = {{{EuroHaptics}}}, booktitle = {{{EuroHaptics}}},
author = {Normand, Erwan and Pacchierotti, Claudio and Marchand, Eric and Marchal, Maud}, author = {Normand, Erwan and Pacchierotti, Claudio and Marchand, Eric and Marchal, Maud},
date = {2024} date = {2024-07},
pages = {469--484}
} }
@article{normand2024visuohaptic, @article{normand2024visuohaptic,