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In this work, we investigate the influence of different visualizations on a manipulation task in virtual reality (VR). Without the haptic feedback of the real world, grasping in VR might result in intersections with virtual objects. As people are highly sensitive when it comes to perceiving collisions, it might look more appealing to avoid intersections and visualize non-colliding hand motions. However, correcting the position of the hand or fingers results in a visual-proprioceptive discrepancy and must be used with caution. Furthermore, the lack of haptic feedback in the virtual world might result in slower actions as a user might not know exactly when a grasp has occurred. This reduced performance could be remediated with adequate visual feedback. In this study, we analyze the performance, level of ownership, and user preference of eight different visual feedback techniques for virtual grasping. Three techniques show the tracked hand (with or without grasping feedback), even if it intersects with the grasped object. Another three techniques display a hand without intersections with the object, called outer hand, simulating the look of a real world interaction. One visualization is a compromise between the two groups, showing both a primary outer hand and a secondary tracked hand. Finally, in the last visualization the hand disappears during the grasping activity. In an experiment, users perform a pick-and-place task for each feedback technique. We use high fidelity marker-based hand tracking to control the virtual hands in real time. We found that the tracked hand visualizations result in better performance, however, the outer hand visualizations were preferred. We also find indications that ownership is higher with the outer hand visualizations.
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The complexities of grasping in the wild
The recent ubiquity of high-framerate (120 fps and higher) handheld cameras creates the opportunity to study human grasping at a greater level of detail than normal speed cameras allow. We first collected 91 slow-motion interactions with objects in a convenience store setting. We then annotated the actions through the lenses of various existing manipulation taxonomies. We found manipulation, particularly the process of forming a grasp, is complicated and proceeds quickly. Our dataset shows that there are many ways that people deal with clutter in order to form a strong grasp of an object. It also reveals several errors and how people recover from them. Though annotating motions in detail is time-consuming, the annotation systems we used nevertheless leave out important aspects of understanding manipulation actions, such as how the environment is functioning as a “finger” of sorts, how different parts of the hand can be involved in different grasping tasks, and high-level intent.
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- Award ID(s):
- 1637853
- PAR ID:
- 10059450
- Date Published:
- Journal Name:
- IEEE-RAS International Conference on Humanoid Robotics (Humanoids)
- Page Range / eLocation ID:
- 233 to 240
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/HUMANOIDS.2017.8246880
