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Erwan Normand
2024-09-29 23:11:43 +02:00
parent 6616d82f55
commit fcbda4a3e7
2 changed files with 6 additions and 6 deletions
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3-manipulation/visuo-haptic-hand/2-method.tex
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@@ -37,7 +37,7 @@ We considered two representative contact vibration techniques, \ie two ways of r
The implementation of these two techniques have been tuned according to the results of a preliminary experiment.
Three participants were asked to carry out a series of push and grasp tasks similar to those used in the actual experiment.
Results showed that \percent{95} of the contacts between the fingertip and the virtual cube happened at speeds below \qty{1.5}{\m\per\s}.
We also measured the perceived minimum amplitude to be 15~\% (\qty{0.6}{\g}) of the maximum amplitude of the motors we used.
We also measured the perceived minimum amplitude to be \percent{15} (\qty{0.6}{\g}) of the maximum amplitude of the motors we used.
For this reason, we designed the Impact vibration technique (Impa) so that contact speeds from \qtyrange{0}{1.5}{\m\per\s} are linearly mapped into \qtyrange{15}{100}{\%} amplitude commands for the motors.
Similarly, we designed the distance vibration technique (Dist) so that interpenetrations from \qtyrange{0}{2.5}{\cm} are linearly mapped into \qtyrange{15}{100}{\%} amplitude commands for the motors, recalling that the virtual cube has an edge of \qty{5}{\cm}.