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Erwan Normand
2024-12-26 19:38:46 +01:00
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4-manipulation/visuo-haptic-hand/2-method.tex
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@@ -27,10 +27,10 @@ They are described as follows, with the corresponding abbreviation in brackets:
When a fingertip contacts the virtual cube, we activate the corresponding vibrating actuator.
We considered two representative contact vibration techniques, \ie two ways of rendering such contacts through vibrations:
\begin{itemize}
\item \level{Impact} (Impa): a \qty{200}{\ms}--long vibration burst is applied when the fingertip makes contact with the object.
\item \level{Impact}: a \qty{200}{\ms}--long vibration burst is applied when the fingertip makes contact with the object.
The amplitude of the vibration is proportional to the speed of the fingertip at the moment of the contact.
This technique is inspired by the impact vibrations modelled by tapping on real surfaces, as described in \secref[related_work]{hardness_rendering}.
\item \level{Distance} (Dist): a continuous vibration is applied whenever the fingertip is in contact with the object.
\item \level{Distance}: a continuous vibration is applied whenever the fingertip is in contact with the object.
The amplitude of the vibration is proportional to the interpenetration between the fingertip and the virtual cube surface.
\end{itemize}
@@ -38,8 +38,8 @@ The implementation of these two techniques have been tuned according to the resu
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 \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}.
For this reason, we designed the \level{Impact} vibration technique 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 \level{Distance} vibration technique 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}.
\section{User Study}
\label{method}
@@ -60,7 +60,8 @@ We considered the same two \level{Push} and \level{Grasp} tasks as described in
\begin{itemize}
\item left-bottom (\level{LB}) and left-right (\level{LF}) during the \level{Push} task; and
\item right-bottom (\level{RB}), left-bottom (\level{LB}), left-right (\level{LF}) and right-front (\level{RF}) during the \level{Grasp} task.
\end{itemize}. We considered these targets because they presented different difficulties.
\end{itemize}
We considered these targets because they presented different difficulties in the previous user study (\chapref{visual_hand}).
\end{itemize}
\begin{subfigs}{tasks}{The two manipulation tasks of the user study.}[
@@ -114,10 +115,10 @@ Preliminary tests confirmed this approach.
\subsection{Participants}
\label{participants}
Twenty subjects participated in the study (mean age = 26.8, \sd{4.1}; 19~males, 1~female).
Twenty participants were recruited for the study (19 males, 1 female), aged between 20 and 35 years (\median{26}{}, \iqr{5.3}{}).
One was left-handed, while the other nineteen were right-handed. They all used their dominant hand during the trials.
They all had a normal or corrected-to-normal vision.
Thirteen subjects participated also in the previous experiment.
Thirteen participants participated also in the previous experiment.
Participants rated their expertise (\enquote{I use it more than once a year}) with \VR, \AR, and haptics in a pre-experiment questionnaire.
There were twelve experienced with \VR, eight experienced with \AR, and ten experienced with haptics.
@@ -137,5 +138,5 @@ They then rated the ten combinations of \factor{Positioning} \x \factor{Vibratio
\item \response{Realism}: How realistic was each vibrotactile rendering?
\end{itemize}
Finally, they rated the ten combinations of \factor{Positioning} \x factor{Hand} on a 7-item Likert scale (1=Not at all, 7=Extremely):
Finally, they rated the ten combinations of \factor{Positioning} \x \factor{Hand} on a 7-item Likert scale (1=Not at all, 7=Extremely):
\response{Positioning \x Hand Rating}: How much do you like each combination of vibrotactile location for each visual hand rendering?