Several years are necessary to reach \fixme{optimal} visual accuracy.
However, children quickly use vision as their primary source of information.
\fixme{trouver ref pour tout ça}
-Hence, haptics is generally not the primary focus for the design of user interfaces.
-The focus is generally on the graphics, and sound to some extent.
-%The main uses of haptics in interactive systems are the following.
-Therefore, haptics is mainly used either as a replacement of vision, or it complements visual and audio stimulations.
-\paragraph{Replace vision}
-Visually impaired people, and especially blind people, extensively use haptic systems to compensate for their disability~\cite{sampaio01}.
-Haptics is also used in situations where vision is dedicated to another task, like surgery~\cite{robineau07}; or situations in which visibility is limited such as darkness or fog~\cite{vanerp01}.
-We can classify the design of haptic feedback into two main categories.
-The first one consists of translating visual stimulations to haptic sensations.
-This method is called \defword{sensory substitution} and was introduced by Bach-y-Rita~\cite{backyrita72}.
-He invented the Tactile Vision Sensory Substitution system (TVSS) \cite{collins73}, which connects a camera to an array of tactile actuators.
-Users scan their environment and perceive a tactile version of it through the device.
-This concept was studied with many devices through the decades since then~\cite{bliss70,gapenne03,hanneton10,linvill66}.
-We let readers interested in this domain check Lenay \etal's book on the topic~\cite{lenay03}.
-The second category.
+\cite{maclean09}
+defs \cite{oakley00}
-\paragraph{Complement vision and audio} VR + other modalities
-\paragraph{Sensory restoration} restores lost haptic feedback\cite{maclean09}
+% Hence, haptics is generally not the primary focus for the design of user interfaces.
+% The focus is generally on the graphics, and sound to some extent.
+% %The main uses of haptics in interactive systems are the following.
+% Therefore, haptics is mainly used either as a replacement of vision, or it complements visual and audio stimulations.
+% This is an active research domain itself for decades.
+% Therefore, we only present here a quick overview of the major concepts that emerged from this research.
-% Sensory substitution refers to situations in which sensations that are typically perceived with one sense are translated to another sense.
-% Bach-y-Rita introduced this concept~\cite{backyrita72} and invented the Tactile Vision Sensory Substitution system (TVSS) \cite{collins73}.
-% In this article, the authors describe their apparatus, but also mention several other systems that already existed at the time.
-% One of them was designed by Linvill and Bliss.
-% It had an $8\times 12$ array of photosensors connected to piezo actuators\cite{linvill66}.
-% Users could explore documents with the sensor, and feel a tactile version of the text and graphics under their fingers.
-% Authors conducted user studies and measured a reading rate of 50 words per minute with an expert user, and 10 words per minute with other trained users~\cite{bliss70}.
-% The same principle was used to replace visual information by auditory information~\cite{auvray05}.
+% \paragraph{Replace vision}
+% Visually impaired people, and especially blind people, extensively use haptic systems to compensate for their disability~\cite{sampaio01}.
+% Haptics is also used in situations where vision is dedicated to another task, like surgery~\cite{robineau07}; or situations in which visibility is limited such as darkness or fog~\cite{vanerp00}.
+% We can classify the design of haptic feedback into two main categories.
+% The first one consists of translating visual stimulations to haptic sensations.
+% This method is called \defword{sensory substitution} and was introduced by Bach-y-Rita~\cite{backyrita72}.
+% He invented the Tactile Vision Sensory Substitution system (TVSS) \cite{collins73}, which connects a camera to an array of tactile actuators.
+% Users scan their environment with the camera and perceive a tactile version of it through the device.
+% This concept was studied with many devices through the decades since then~\cite{bliss70,gapenne03,hanneton10,linvill66}.
+% We let readers interested in this domain check Lenay \etal's book on the topic~\cite{lenay03}.
-% The Vibe~\cite{hanneton10}
+% At the opposite, the second category is genuine haptic feedback.
+% Rather than translating vision to haptics, information is directly encoded with haptic cues.
+% Brewster was the first to define \defword{Tactons} as \emph{“structured, abstract messages that can be used to communicate messages non-visually”}~\cite{brewster04}.
-%It is also used in other contexts like surgery, in which vision is required for a primary task, and haptics is used to replace vision at a different scale and point of view~\cite{robineau07}.
+%Tactile Brush~\cite{israr11}
+%Macaron~\cite{schneider16}
+%\subsection{The haptic pitfall path}
-
-\paragraph{Active haptics}
-
-Active: haptics in the common sense
-
-\paragraph{Passive haptics}
-In the early days of tangible interaction, Ullmer and Ishii described Tangible interaction this way: “TUIs will augment the real physical world by coupling digital information to everyday physical objects and environments.”\cite{ishii97}.
-The idea is to break the barrier between the physical and the digital world.
-With this paradigm, any object can either represent digital information or be a proxy for manipulating digital information.
-Similar to input and output devices, these objects are instrumented with sensors or actuators, to create links with the digital world.
-
-
-%\cite{deroy12}
-
-
-%Most of the time, haptic is seen as a feedback modality.
-
-
-\section{Active haptics}
-
- Haptic variables, vocabulary => Tactons. Diversity of sensations \cite{lederman87}=> diversity of devices~\cite{seifi19}.
-
- % The features are: linguistic/nonlinguistic, analogue/non-analogue, arbitrary/non-arbitrary, static/dynamic\cite{bernsen93a}
-
- % 8. Touch language Touch letters, numerals, words, other touch language related signs, text, list and table orderings.
- % Example: Braille
- % 18. Real-world touch Single touch representations, touch sequences.
- % 20. Touch graphs 1D, 2D or 3D graph space with geometrical forms.
- % Pure charts (dot charts, bar charts, pie charts, etc.).
- % 24. Arbitrary touch Touch signals of differents sorts.
- % 28. Touch structures Form fields, frames, grids, line separations, trees.
+The design of haptic systems requires joint efforts between specialists in several scientific domains as depicted on Figure~\ref{fig:hapticpath}.
+This pipeline has two steps on the system side and two steps on the human side.
+Both the system and human have a step in the physical world and one outside the physical world.
+The objective of this pipeline is to transmit information to users through their sense of touch.
+This is indeed a simplified pipeline, each step being studied by several research communities.
+While each step of the pipeline is essentially studied by one or two scientific fields, the role of Human-Computer Interaction is to connect them in a meaningful way.
\begin{figure}[htb]
\centering
\definecolor{cellblue}{rgb} {0.17,0.60,0.99}
\newcommand{\labelcell}[2]{
-\node[minimum width=3.0cm, minimum height=.75cm,text width=3.5cm, align=center, outer sep=0](#1) {\textbf{#2}};
+\node[minimum width=1.0cm, minimum height=.75cm,text width=3.0cm, align=center, outer sep=0, column sep=0cm](#1) {\textbf{#2}};
}
\newcommand{\bluecell}[2]{
\node[minimum width=3.0cm, minimum height=1.5cm,fill=cellblue, text=white,text width=3.5cm, align=center, rounded corners=2ex, outer sep=0](#1) {#2};
}
\begin{tikzpicture}
\small
- \matrix[row sep=1cm, column sep=4cm,inner sep=0, node distance=0, outer sep=5mm] (cells) {
- \bluecell{mechanics}{Electro-Mechanical\\System} & \redcell{sensorial}{Sensorial\\system}\\
- \bluecell{software}{Software\\Controller} & \redcell{cognitive}{Cognitive\\system}\\
- \labelcell{info}{Information} & \labelcell{perception}{Perception} \\
+ \node[anchor=south, minimum width=\textwidth,minimum height=25mm, inner sep=0,fill=black!10, outer sep=0](thebar3) at (0,1.35) {};
+ \node[anchor=south, minimum width=\textwidth,minimum height=.75mm, inner sep=0, outer sep=0](thebar3) at (0,3.25) {\textbf{Physical World}};
+ \matrix[row sep=1.25cm, column sep=7mm,inner sep=0, node distance=0, outer sep=0mm] (cells) {
+ \labelcell{elecmeca}{Electronics\\Mechanics} & \bluecell{mechanics}{Electro-Mechanical\\System} & & & \redcell{sensory}{Sensory\\system} & \labelcell{biopsycho}{Biology\\Psychology}\\
+ \labelcell{csmath}{Computer Science\\Mathematics} & \bluecell{software}{Software\\Controller} & & & \redcell{cognitive}{Cognitive\\system} & \labelcell{csmath}{Ergonomy\\Cognitive Sciences}\\
+ & \labelcell{info}{Information} & & & \labelcell{perception}{Perception} \\
};
\draw [->, -stealth', thick] (info.north) -- (software.south) node [midway, left] {Data};
\draw [->, -stealth', thick] (software.north) -- (mechanics.south) node [midway, left] {Command};
- \draw [->, -stealth', thick] (mechanics.east) -- (sensorial.west) node [midway, above] {Mechanical effect};
- \draw [->, -stealth', thick] (sensorial.south) -- (cognitive.north) node [midway, right] {Sensation};
+ \draw [->, -stealth', thick] (mechanics.east) -- (sensory.west) node [midway, above] {Mechanical };
+ \draw [->, -stealth', thick] (mechanics.east) -- (sensory.west) node [midway, below] { effect};
+ \draw [->, -stealth', thick] (sensory.south) -- (cognitive.north) node [midway, right] {Sensation};
\draw [->, -stealth', thick] (cognitive.south) -- (perception.north) node [midway, right] {Interpretation};
% \draw [->, -stealth', thick]
% \draw [->, -stealth', thick]
% (software.north) edge (mechanics.south);
\end{tikzpicture}
-\caption{The Caption.}
-\label{fig:loops}
+\caption[Haptic rendering pipeline]{Haptic rendering pipeline.}
+\label{fig:hapticpath}
\end{figure}
+\paragraph{Haptic systems}
+The pipeline starts with the software part of the system, which uses the data associated with this information to compute a command (also called a signal).
+This is the system side, out of the physical world.
+Here we consider, relatively speaking, that the software is the computer's mind.
+These commands activate various kinds of actuators to produce a mechanical effect.
+
+There are two major types of control for force-feedback systems.
+The usual way to control a force-feedback system is to measure motion and compute a force, this is called \defword{impedance control}~\cite{ruspini97-2}.
+This is the most common technique, mostly because there are many easy and cheap ways to measure motion.
+A function that computes a force depending on movement is called a force model.
+Other systems sense forces and compute an output motion, this is called \defword{admittance control}~\cite{vanderlinde02}.
+This is less used because forces are harder to measures, especially if precision is required.
+The advantage of such systems is their much higher stiffness than inductance systems.
+
+There are many ways to compute tactile signals, especially due to the diversity of actuation mechanisms and associated effects.
+Vibrotactile feedback is certainly the most common type of haptic feedback, because of its low price and simplicity.
+\defword{Eccentric Rotating Mass} (ERM) actuators are widely used.
+The mechanical effect results from the centrifugal force of the rotating mass.
+There is a delay before the motor spins fast enough, and inertia when the signal stops.
+Therefore there is no easy way to control both the frequency and amplitude of the produced mechanical effect with these actuators.
+\defword{Voice coil actuators} actuators work similarly to speakers.
+They produce vibration with a coil and a permanent magnet~\cite{mortimer07,yao10}.
+The precision of these actuators enables fine control of both frequency and amplitude.
+Such precision is either used for encoding abstract messages called Tactons~\cite{brewster04,hoggan07}, or reproduce tactile effects such as button clicks~\cite{nashel03,lylykangas11}.
+
+\defword{Pin arrays} are essentially used to render patterns~\cite{pietrzak06,pietrzak09}.
+Each pin is controlled individually, either up or down.
+Variable friction technologies change the perceived friction of a surface.
+Two methods can produce this effect: \defword{electro-vibration} and \defword{squeeze-film effect}.
+The electro-vibration mechanism uses a high voltage (hundreds to thousand volts) to stick the user onto the interactive surface~\cite{strong70}.
+The signal is a sinusoid (even though other shapes are possible), with controllable amplitude and frequency~\cite{bau10}.
+The squeeze film effect uses a high-frequency signal (tens of thousand Hertz) that we cannot perceive directly.{}
+This vibration creates an air cushion between the finger and the surface so that this surface feels smoother~\cite{biet07}.
+
+\paragraph{Sense of touch}{}
+
+
+\section{Research questions}
+
+%Leverage the sense of touch to improve interaction.
+
+
+Potential issues at all levels: difficulties to reproduce effects in a consistent way across devices and people.
+ Coding \texttt{=>} Command \texttt{=>} physical effect \texttt{=>} sensation \texttt{=>} information…
+
+ Many places where information can get lost: command resolution, non-linear mechanical effect, bad contact between device and user, effect out of perceptual range, haptic illusions.
+
+
+\subsection{Towards a haptic semiology}
+
+Lack of Bertin-like haptic semiology \cite{bertin83} \texttt{=>} diversity of sensations, stimulation mechanisms, haptic variables
+
+%\cite{deroy12}
+
+
+%Most of the time, haptic is seen as a feedback modality.
+
+
+\section{Active haptics}
+
+ Haptic variables, vocabulary \texttt{=>} Tactons. Diversity of sensations \cite{lederman87} \texttt{=>} diversity of devices~\cite{seifi19}.
+
+ % The features are: linguistic/nonlinguistic, analogue/non-analogue, arbitrary/non-arbitrary, static/dynamic\cite{bernsen93a}
+
+ % 8. Touch language Touch letters, numerals, words, other touch language related signs, text, list and table orderings.
+ % Example: Braille
+ % 18. Real-world touch Single touch representations, touch sequences.
+ % 20. Touch graphs 1D, 2D or 3D graph space with geometrical forms.
+ % Pure charts (dot charts, bar charts, pie charts, etc.).
+ % 24. Arbitrary touch Touch signals of differents sorts.
+ % 28. Touch structures Form fields, frames, grids, line separations, trees.
+
\subsection{Tactons}
Haptic feedback for activity monitoring (Activibe)\cite{cauchard16}
- Off-the-shelf smartwatch => simple ERM actuator => simple feedback, limited vocabulary
+ Off-the-shelf smartwatch \texttt{=>} simple ERM actuator \texttt{=>} simple feedback, limited vocabulary
Can people notice and interpret correctly information when they do not expect the tactile cues?
Tactile Textures~\cite{potier12,potier16}
- Coding => Command => physical effect => sensation => information…
-
- Many places where information can get lost: command resolution, non-linear mechanical effect, bad contact between device and user, effect out of perceptual range, haptic illusions.
-
-
\section{Passive haptics}
% Leverage the physical properties of computer peripherals. Use them as tangibles~\cite{pietrzak17}.
% Actuated peripherals.
+In the early days of tangible interaction, Ullmer and Ishii described Tangible interaction this way: “TUIs will augment the real physical world by coupling digital information to everyday physical objects and environments.”\cite{ishii97}.
+The idea is to break the barrier between the physical and the digital world.
+With this paradigm, any object can either represent digital information or be a proxy for manipulating digital information.
+Similar to input and output devices, these objects are instrumented with sensors or actuators, to create links with the digital world.
+
+
The question whether computer peripherals such as a mouse can be used as a TUI is subject to debate.
On one hand it complies with Ullmer and Ishii's definition we provided at the beginning of this chapter.
Since the introduction of this definition, computer peripherals actually became everyday objects.
projects / hdr.git / commitdiff