28 lines
3.3 KiB
TeX
28 lines
3.3 KiB
TeX
\section{Conclusion}
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\label{conclusion}
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In this chapter, we investigated the visuo-haptic feedback of the hand when manipulating virtual objects using an \OST-\AR headset and wearable vibrotactile haptic.
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To do so, we provided vibrotactile feedback of the fingertip contacts with virtual objects by moving away the haptic actuator that do not cover the inside of the hand: on the nails, the proximal phalanges, the wrist, and the nails of the opposite hand.
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We selected these four different delocalized positions on the hand from the literature for direct hand interaction in \AR using wearable haptic devices.
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In a user study, we compared twenty visuo-haptic feedback of the hand as the combination of two vibrotactile contact techniques, provided at five different delocalized positions on the user's hand, and with the two most representative visual hand augmentations established in the \chapref{visual_hand}, \ie the skeleton hand rendering and no hand rendering.
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Results showed that delocalized vibrotactile haptic hand feedback improved the perceived effectiveness, realism, and usefulness when it is provided close to the contact point.
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However, the farthest positioning on the contralateral hand gave the best performance even though it was disliked: the unfamiliarity of the positioning probably caused the participants to take more effort to consider the haptic stimuli and to focus more on the task.
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The visual hand augmentation was perceived less necessary than the vibrotactile haptic feedback, but still provided a useful feedback on the hand tracking.
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This study provide evidence that moving away the feedback from the inside of the hand is a simple but promising approach for wearable haptics in \AR.
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If integration with the hand tracking system allows it, and if the task requires it, a haptic ring worn on the middle or proximal phalanx seems preferable.
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It can provide more realistic and appreciated feedback, being closer to the point of contact.
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However, a calibration step seems important to adapt to the individual preferences and sensitivities of the user.
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Yet, 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.
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It could thus provide more complex feedback of the contacts with the virtual objects.
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Finally, we think that the visual hand augmentation complements the haptic contact rendering well by providing continuous feedback on hand tracking.
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Such a visual augmentation can be disabled during the grasping phase to avoid redundancy with the haptic feedback of the contact with the virtual object.
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\comans{SJ}{Again, it would strengthen the thesis if the authors provided a systematic guideline on how to choose the appropriate haptic feedback or visual augmentation depending on the specific requirements of an application.}{The guidelines paragraph have been expanded in the conclusion.}
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\noindentskip The work described in \chapref{visual_hand} and \ref{visuo_haptic_hand} was published in Transactions on Haptics:
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Erwan Normand, Claudio Pacchierotti, Eric Marchand, and Maud Marchal.
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\enquote{Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality}.
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In: \textit{IEEE Transactions on Haptics}. 27.4 (2024), pp. 2481--2487.
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