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Theses

Co-localisation des retours visuels et haptiques en Réalité Virtuelle

Abstract : Virtual Reality provides the ability to interact with a large variety of environments and represents a strong potential in research, medical or industry. Many applications require the manipulation of virtual objects. Visual and haptic feedback are used through different hardware interfaces to help the user to operate dexterously. As development currently stands, there is however an inconsistency in the coupling of the two feedbacks, affecting the quality of interaction. The visual feedback is usually displayed in front of the user while the haptic feedback is transmitted to his hand holding a remote controller. This so-called “delocated” configuration is simple to implement but introduces a spatial incongruence between the two stimuli. On the contrary, a configuration in which the visual and haptic feedback are “co-located”, where the user touches where he sees, is more realistic but technically more tedious to implement. The thesis deals with the differences generated by the two configurations, delocated vs co-located, in order to better understand the mechanisms involved. It is presented in three parts: ●The design of a co-located interface to experiment and evaluate different configurations. ●The comparison of user performance during basic operations. ●The comparison of integration of stimuli. A desktop interface with co-located visio-haptic feedback is developed. For this purpose, a novel haptic device with cable architecture is proposed and fitted with a mirrored screen display. The mechanism being redundant, a control strategy including slacking cables is then proposed and tested in order to enhance the transparency of the device. A user-centered experiment is then conducted and performances of 36 participants to operate in co-located and delocated configurations are evaluated. Faster, better accuracy and greater stability of contact forces are exposed in co-located configuration. Additionally, a difference in stability is observed according to the type of delocation. In order to get a better insight of the difference between configurations, an user-centered experiment is lastly conducted on the integration of stimuli. The weights of visual, proprioceptive and tactile feedback in the perceptual process are inferred in co-located and delocated configurations. A variation depending on the spatial configuration, the nature of haptic stimulus is demonstrated, as well as a significant performances differences between users.
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https://tel.archives-ouvertes.fr/tel-02486968
Contributor : Justine Saint-Aubert <>
Submitted on : Friday, February 21, 2020 - 12:24:50 PM
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  • HAL Id : tel-02486968, version 1

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Justine Saint-Aubert. Co-localisation des retours visuels et haptiques en Réalité Virtuelle. Sciences de l'ingénieur [physics]. ISIR, Université Pierre et Marie Curie UMR CNRS 7222, 2019. Français. ⟨tel-02486968⟩

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