Yoren Gaffary - Academia.edu (original) (raw)
Papers by Yoren Gaffary
Frontiers in Virtual Reality
With the objective of providing scientific guidance for the development of a multisensory virtual... more With the objective of providing scientific guidance for the development of a multisensory virtual reality (VR) relaxation device using haptic stimulation, the present review focuses on analysis of existing traditional and VR-based stress reduction interventions as well as their relevant measures. Two primary methods of stress reduction are explored: relaxation techniques and meditation techniques. Relaxation techniques enable the practitioner to achieve a tension-free state through control of and reduction in physiological activity. Meditation techniques also induce a relaxation response, but can additionally increase sustained attention to the present moment, to one’s own bodily sensations, emotions, tensions, thoughts, etc., or to an object, without judgement or adherence to a particular perspective. The limitations of traditional techniques are also noted, including the time required for training or mastery and the need for visualization efforts, and the benefits of VR-based rela...
La communication des émotions s'effectue naturellement par le biais de différentes modalités,... more La communication des émotions s'effectue naturellement par le biais de différentes modalités, comme par exemple les expressions faciales et le toucher. L'informatique affective cherche à intégrer la composante émotionnelle dans les interactions homme-machine. Cependant, le toucher, qui est un puissant vecteur d'émotions, reste peu exploité. L'objectif de cette thèse est d'étudier les paramètres qui influencent l'expression et la perception des émotions dans la modalité kinesthésique dans un contexte d'interaction homme-machine. Dans un premier temps, cette thèse considère l'expression kinesthésique liée à la perception physique de forces et de mouvements d'un ensemble d'émotions actées sémantiquement proches. Sur la base des résultats de cette première étude, un couplage des expressions kinesthésiques typiques de différentes émotions avec des expressions faciales exprimées par un avatar est proposé afin d'étudier l'influence de la moda...
La communication des emotions s'effectue naturellement par le biais de differentes modalites,... more La communication des emotions s'effectue naturellement par le biais de differentes modalites, comme par exemple les expressions faciales et le toucher. L'informatique affective cherche a integrer la composante emotionnelle dans les interactions homme-machine. Cependant, le toucher, qui est un puissant vecteur d'emotions, reste peu exploite. L'objectif de cette these est d'etudier les parametres qui influencent l'expression et la perception des emotions dans la modalite kinesthesique dans un contexte d'interaction homme-machine. Dans un premier temps, cette these considere l'expression kinesthesique liee a la perception physique de forces et de mouvements d'un ensemble d'emotions actees semantiquement proches. Sur la base des resultats de cette premiere etude, un couplage des expressions kinesthesiques typiques de differentes emotions avec des expressions faciales exprimees par un avatar est propose afin d'etudier l'influence de la moda...
Lecture Notes in Computer Science, 2012
This paper presents a haptic stimulus that enables the discrimination between linear and non-line... more This paper presents a haptic stimulus that enables the discrimination between linear and non-linear functions. These functions correspond to the evolution of divergency for two important states of dynamic systems: quasi-periodic and chaotic states respectively. The proposed approach combines a kinaesthetic feedback, to attract the user on explored attractors, and a vibrotactile feedback, to effectively display the local divergency of the attractor. The experimental results show an improvement of the level of discrimination between the two states and a quicker understanding of the right nature of the signal.
The Handbook of Multimodal-Multisensor Interfaces: Foundations, User Modeling, and Common Modality Combinations - Volume 2, 2018
L'autonomie et la capacitea maintenir des activites sociales peuvent representer un defi pour... more L'autonomie et la capacitea maintenir des activites sociales peuvent representer un defi pour les personnes en situation de handicap. Dans le cas d'un handicap impactant la mo-bilite, les fauteuils roulantselectriques peuvent aidera conserver oua retrouver une autonomie de deplacement. Neanmoins, la conduite d'un fauteuil roulantelectrique est une tâche complexe qui necessite de bonnes capacites cognitives, visuelles et visuo-spatiales. En pratique, avant de se voir prescrire un fauteuil roulantelectrique par un therapeute, il faut suivre une formatioǹ a la conduite puis reussir des tests d'aptitudes. Cependant, la formation conventionnelle en ergotherapie peut s'averer insuffisante pour certaines personnes ayant des deficiences cognitives et/ou visuo-spatiales. Ainsi, ces personnes ne sont pas autoriseesa con-duire un fauteuil roulantelectrique pour des raisons de securite. Dans ce contexte, les simulateurs de conduite pourraient apporter une solution alternativ...
Modelling, Measurement and Control C, 2020
Autonomy and the ability to maintain social activities can be challenging for people with disabil... more Autonomy and the ability to maintain social activities can be challenging for people with disabilities experiencing reduced mobility. In the case of disabilities that impact mobility, power wheelchairs can help such people retain or regain autonomy. Nonetheless, driving a power wheelchair is a complex task that requires a combination of cognitive, visual and visuo-spatial abilities. In practice, people need to pass prior ability tests and driving training before being prescribed a power wheelchair by their therapist. Still, conventional training in occupational therapy can be insufficient for some people with severe cognitive and/or visio-spatial functions. As such, these people are often prevented from obtaining a power wheelchair prescription from their therapist due to safety concerns. In this context, driving simulators might be efficient and promising tools to provide alternative, adaptive, flexible, and safe training. In previous work, we proposed a Virtual Reality (VR) drivin...
2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), 2019
Autonomy and social inclusion can reveal themselves everyday challenges for people experiencing m... more Autonomy and social inclusion can reveal themselves everyday challenges for people experiencing mobility impairments. These people can benefit from technical aids such as power wheelchairs to access mobility and overcome social exclusion. However, power wheelchair driving is a challenging task which requires good visual, cognitive and visuo-spatial abilities. Besides, a power wheelchair can cause material damage or represent a danger of injury for others or oneself if not operated safely. Therefore, training and repeated practice are mandatory to acquire safe driving skills to obtain power wheelchair prescription from therapists. However, conventional training programs may reveal themselves insufficient for some people with severe impairments. In this context, Virtual Reality offers the opportunity to design innovative learning and training programs while providing realistic wheelchair driving experience within a virtual environment. In line with this, we propose a user-centered design of a multisensory power wheelchair simulator. This simulator addresses classical virtual experience drawbacks such as cybersickness and sense of presence by combining 3D visual rendering, haptic feedback and motion cues. It relies on a modular and versatile workflow enabling not only easy interfacing with any virtual display, but also with any user interface such as wheelchair controllers or feedback devices. This paper presents the design of the first implementation as well as its first commissioning through pretests. The first setup achieves consistent and realistic behavior.
Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction, 2020
Autonomy and the ability to maintain social activities can be challenging for people with disabil... more Autonomy and the ability to maintain social activities can be challenging for people with disabilities experiencing reduced mobility. In the case of disabilities that impact mobility, power wheelchairs can help such people retain or regain autonomy. Nonetheless, driving a power wheelchair is a complex task that requires a combination of cognitive, visual and visuo-spatial abilities. In practice, people need to pass prior ability tests and driving training before being prescribed a power wheelchair by their therapist. Still, conventional training in occupational therapy can be insufficient for some people with severe cognitive and/or visuo-spatial functions. As such, these people are often prevented from obtaining a power wheelchair prescription from their therapist due to safety concerns. In this context, driving simulators might be efficient and promising tools to provide alternative, adaptive, flexible, and safe training. In previous work, we proposed a Virtual Reality (VR) driving simulator integrating vestibular feedback to simulate wheelchair motion sensations. The performance and acceptability of a VR simulator rely on satisfying user Quality of Experience (QoE). Therefore, our simulator is designed to give the user a high Sense of Presence (SoP) and low Cybersickness. This paper presents a pilot study assessing the impact of the vestibular feedback provied on user QoE. Participants were asked to perform a driving task whilst in the simulator under two conditions: with and without vestibular feedback. User QoE is assessed through subjective questionnaires measuring user SoP and cybersickness. The results show that vestibular feedback activation increases SoP and decreases cybersickness. This study constitutes a mandatory step before clinical trials and, as such, only enrolled people without disabilities.
IEEE Transactions on Affective Computing, 2020
Previous studies about kinesthetic expressions of emotions are mainly based on acted expressions ... more Previous studies about kinesthetic expressions of emotions are mainly based on acted expressions of emotions, which can be quite different from spontaneous expressions. This paper describes a study involving a stress induction procedure and stress perception through haptic expressions with N total = 41 young men (aged 19´37), all right-handed. We designed a game application to collect spontaneous expressions of stress. This application involved haptic interactions and a stressful event. We observed changes in the haptic behaviors of the participants over different phases: before, during and after the stress induction. In the next step, we investigated how the collected haptic behaviors (both kinematic and force components) were haptically perceived by the other participants. The results suggest the ability of kinesthetic expressions to communicate a spontaneous stress from one person to another.
Frontiers in ICT, 2018
This paper surveys the haptic technologies deployed in cars and their uses to enhance drivers' sa... more This paper surveys the haptic technologies deployed in cars and their uses to enhance drivers' safety during manual driving. These technologies enable to deliver haptic (tactile or kinesthetic) feedback at various areas of the car, such as the steering wheel, the seat, or the pedal. The paper explores two main uses of the haptic modality to fulfill the safety objective: to provide driving assistance and warning. Driving assistance concerns the transmission of information usually conveyed with other modalities for controlling the car's functions, maneuvering support, and guidance. Warning concerns the prevention of accidents using emergency warnings, increasing the awareness of surroundings, and preventing collisions, lane departures, and speeding. This paper discusses how haptic feedback has been introduced so far for these purposes and provides perspectives regarding the present and future of haptic cars meant to increase driver's safety.
IEEE Transactions on Visualization and Computer Graphics, 2017
Does it feel the same when you touch an object in Augmented Reality (AR) or in Virtual Reality (V... more Does it feel the same when you touch an object in Augmented Reality (AR) or in Virtual Reality (VR)? In this paper we study and compare the haptic perception of stiffness of a virtual object in two situations: (1) a purely virtual environment versus (2) a real and augmented environment. We have designed an experimental setup based on a Microsoft HoloLens and a haptic force-feedback device, enabling to press a virtual piston, and compare its stiffness successively in either Augmented Reality (the virtual piston is surrounded by several real objects all located inside a cardboard box) or in Virtual Reality (the same virtual piston is displayed in a fully virtual scene composed of the same other objects). We have conducted a psychophysical experiment with 12 participants. Our results show a surprising bias in perception between the two conditions. The virtual piston is on average perceived stiffer in the VR condition compared to the AR condition. For instance, when the piston had the same stiffness in AR and VR, participants would select the VR piston as the stiffer one in 60% of cases. This suggests a psychological effect as if objects in AR would feel "softer" than in pure VR. Taken together, our results open new perspectives on perception in AR versus VR, and pave the way to future studies aiming at characterizing potential perceptual biases.
Lecture Notes in Computer Science, 2016
In this paper, we study the perception of tactile directional cues by one or two fingers, using e... more In this paper, we study the perception of tactile directional cues by one or two fingers, using either the index, middle, or ring finger, or any of their combination. Therefore, we use tactile devices able to stretch the skin of the fingertips in 2 DOF along four directions: horizontal, vertical, and the two diagonals. We measure the recognition rate in each direction, as well as the subjective preference, depending on the (couple of) finger(s) stimulated. Our results show first that using the index and/or middle finger performs significantly better than using the ring finger on both qualitative and quantitative measures. The results when comparing one versus two-finger configurations are more contrasted. The recognition rate of the diagonals is higher when using one finger than two, whereas two fingers enable a better perception of the horizontal direction. These results pave the way to other studies on one versus two-finger perception, and raise methodological considerations for the design of multi-finger tactile devices.
2015 International Conference on Affective Computing and Intelligent Interaction (ACII), 2015
The use of virtual avatars, through facial or gestural expressions, is considered to be a main su... more The use of virtual avatars, through facial or gestural expressions, is considered to be a main support for affective communication. Currently, different works have studied the potential of a kinesthetic channel for conveying such information. However, they still have not investigated the complementarity between visual and kinesthetic feedback to effectively convey emotion. This paper studies the relation between some emotional dimensions and the visual and kinesthetic modalities. The experimental results show that subjects used visual and kinesthetic feedbacks to evaluate the pleasure and the arousal dimensions, respectively. We also observed a link between the recognition rate of emotions expressed with the visual modality (resp. kinesthetic modality) and the magnitude of that emotion's pleasure dimension (resp. arousal dimension). These different results should help in the selection of feedbacks according to the features of the investigated emotion.
2015 International Conference on Affective Computing and Intelligent Interaction (ACII), 2015
Previous studies about kinesthetic expressions of emotions are mainly based on acted expressions ... more Previous studies about kinesthetic expressions of emotions are mainly based on acted expressions of affective states, which might be quite different from spontaneous expressions. In a previous study, we proposed a task to collect haptic expressions of a spontaneous stress. In this paper, we explore the effectiveness of this task to induce a spontaneous stress in two ways : a subjective feedback, and a more objective approach-avoidance behavior.
Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, 2015
This paper deals with the haptic affective social interaction during a greeting handshaking betwe... more This paper deals with the haptic affective social interaction during a greeting handshaking between a human and a humanoid robot. The goal of this work is to study how the haptic interaction conveys emotions, and more precisely, how it influences the perception of the dimensions of emotions expressed through the facial expressions of the robot. Moreover, we examine the benefits of the multimodality (i.e., visuo-haptic) over the monomodality (i.e., visual-only and haptic-only). The experimental results with Meka robot show that the multimodal condition presenting high values for grasping force and joint stiffness are evaluated with higher values for the arousal and dominance dimensions than during the visual condition. Furthermore, the results corresponding to the monomodal haptic condition showed that participants discriminate well the dominance and the arousal dimensions of the haptic behaviours presenting low and high values for grasping force and joint stiffness.
International Journal of Human-Computer Interaction, 2014
ABSTRACT Several studies have investigated the relevance of haptics to convey various types of em... more ABSTRACT Several studies have investigated the relevance of haptics to convey various types of emotions physically. This article investigates the improvement of the recognition rate of emotions using visuo-haptic feedback compared to facial and haptic expressions alone. Four experiments were conducted in which the recognition rates of emotions using facial, haptic and visuo-haptic expressions were tested. The first experiment evaluates the recognition rate of emotions using facial expressions. The second experiment collects a large corpus of 3D haptic expressions of certain emotions and subsequently identifies the relevant haptic expression for each emotion. The third experiment evaluates the selected haptic expressions through statistical and perceptive tests to retain the ones that result in the most accurate identification of the corresponding emotion. Finally, the fourth experiment studies the effect of visuo–haptic coupling on the recognition of the investigated emotions. Generally, emotions with high amplitudes of pleasure are better recognized in the visual modality. However, emotions with high activation are better recognized in the haptic modality. These results also highlighted the finding that participants are not equally aided by each modality when recognizing emotions efficiently. Beyond the recognition rate, multimodal expressions improved the sensation of presence and expressivity.
Lecture Notes in Computer Science, 2014
The study of the potential of haptic channel to convey emotions is very promising for human-machi... more The study of the potential of haptic channel to convey emotions is very promising for human-machine interaction and mediated communication. However, main researches investigated acted emotions that are not representative of natural and spontaneous behaviors. This paper addresses the issue of expression of spontaneous emotions. In the context of a game application that involves haptic interaction, a suitable scenario and context were designed to elicit a spontaneous stressed affective state. The haptic behavior of participants was subsequently analyzed in order to highlight the changes during and after the elicitation of this affective state.
Proceedings of the 19th ACM Symposium on Virtual Reality Software and Technology, 2013
Exploring virtual environment with immersive metaphor is still largely unexplored, with the costl... more Exploring virtual environment with immersive metaphor is still largely unexplored, with the costly CAVE exception. This question takes importance in lots of fields, such as fluid mechanics, where space and time resolved dataset become more and more common. For that reason, we present an interaction design study of an window exploration metaphor, for large 3D virtual environment. The metaphor is based on the use of a tablet as a tangible and movable window on a virtual environment. Rotations in the environment are tracker-less mapped on the rotations of the tablet. Our design is inspired by fluid mechanics issues, but is build keeping generalizability in mind. The study shows that mapping three degrees of freedom onto corresponding real three degrees of freedom of space raises the transparency, the efficiency of data exploration and the space awareness of users.
Proceedings of the ACM Symposium on Applied Perception, 2014
Frontiers in Virtual Reality
With the objective of providing scientific guidance for the development of a multisensory virtual... more With the objective of providing scientific guidance for the development of a multisensory virtual reality (VR) relaxation device using haptic stimulation, the present review focuses on analysis of existing traditional and VR-based stress reduction interventions as well as their relevant measures. Two primary methods of stress reduction are explored: relaxation techniques and meditation techniques. Relaxation techniques enable the practitioner to achieve a tension-free state through control of and reduction in physiological activity. Meditation techniques also induce a relaxation response, but can additionally increase sustained attention to the present moment, to one’s own bodily sensations, emotions, tensions, thoughts, etc., or to an object, without judgement or adherence to a particular perspective. The limitations of traditional techniques are also noted, including the time required for training or mastery and the need for visualization efforts, and the benefits of VR-based rela...
La communication des émotions s'effectue naturellement par le biais de différentes modalités,... more La communication des émotions s'effectue naturellement par le biais de différentes modalités, comme par exemple les expressions faciales et le toucher. L'informatique affective cherche à intégrer la composante émotionnelle dans les interactions homme-machine. Cependant, le toucher, qui est un puissant vecteur d'émotions, reste peu exploité. L'objectif de cette thèse est d'étudier les paramètres qui influencent l'expression et la perception des émotions dans la modalité kinesthésique dans un contexte d'interaction homme-machine. Dans un premier temps, cette thèse considère l'expression kinesthésique liée à la perception physique de forces et de mouvements d'un ensemble d'émotions actées sémantiquement proches. Sur la base des résultats de cette première étude, un couplage des expressions kinesthésiques typiques de différentes émotions avec des expressions faciales exprimées par un avatar est proposé afin d'étudier l'influence de la moda...
La communication des emotions s'effectue naturellement par le biais de differentes modalites,... more La communication des emotions s'effectue naturellement par le biais de differentes modalites, comme par exemple les expressions faciales et le toucher. L'informatique affective cherche a integrer la composante emotionnelle dans les interactions homme-machine. Cependant, le toucher, qui est un puissant vecteur d'emotions, reste peu exploite. L'objectif de cette these est d'etudier les parametres qui influencent l'expression et la perception des emotions dans la modalite kinesthesique dans un contexte d'interaction homme-machine. Dans un premier temps, cette these considere l'expression kinesthesique liee a la perception physique de forces et de mouvements d'un ensemble d'emotions actees semantiquement proches. Sur la base des resultats de cette premiere etude, un couplage des expressions kinesthesiques typiques de differentes emotions avec des expressions faciales exprimees par un avatar est propose afin d'etudier l'influence de la moda...
Lecture Notes in Computer Science, 2012
This paper presents a haptic stimulus that enables the discrimination between linear and non-line... more This paper presents a haptic stimulus that enables the discrimination between linear and non-linear functions. These functions correspond to the evolution of divergency for two important states of dynamic systems: quasi-periodic and chaotic states respectively. The proposed approach combines a kinaesthetic feedback, to attract the user on explored attractors, and a vibrotactile feedback, to effectively display the local divergency of the attractor. The experimental results show an improvement of the level of discrimination between the two states and a quicker understanding of the right nature of the signal.
The Handbook of Multimodal-Multisensor Interfaces: Foundations, User Modeling, and Common Modality Combinations - Volume 2, 2018
L'autonomie et la capacitea maintenir des activites sociales peuvent representer un defi pour... more L'autonomie et la capacitea maintenir des activites sociales peuvent representer un defi pour les personnes en situation de handicap. Dans le cas d'un handicap impactant la mo-bilite, les fauteuils roulantselectriques peuvent aidera conserver oua retrouver une autonomie de deplacement. Neanmoins, la conduite d'un fauteuil roulantelectrique est une tâche complexe qui necessite de bonnes capacites cognitives, visuelles et visuo-spatiales. En pratique, avant de se voir prescrire un fauteuil roulantelectrique par un therapeute, il faut suivre une formatioǹ a la conduite puis reussir des tests d'aptitudes. Cependant, la formation conventionnelle en ergotherapie peut s'averer insuffisante pour certaines personnes ayant des deficiences cognitives et/ou visuo-spatiales. Ainsi, ces personnes ne sont pas autoriseesa con-duire un fauteuil roulantelectrique pour des raisons de securite. Dans ce contexte, les simulateurs de conduite pourraient apporter une solution alternativ...
Modelling, Measurement and Control C, 2020
Autonomy and the ability to maintain social activities can be challenging for people with disabil... more Autonomy and the ability to maintain social activities can be challenging for people with disabilities experiencing reduced mobility. In the case of disabilities that impact mobility, power wheelchairs can help such people retain or regain autonomy. Nonetheless, driving a power wheelchair is a complex task that requires a combination of cognitive, visual and visuo-spatial abilities. In practice, people need to pass prior ability tests and driving training before being prescribed a power wheelchair by their therapist. Still, conventional training in occupational therapy can be insufficient for some people with severe cognitive and/or visio-spatial functions. As such, these people are often prevented from obtaining a power wheelchair prescription from their therapist due to safety concerns. In this context, driving simulators might be efficient and promising tools to provide alternative, adaptive, flexible, and safe training. In previous work, we proposed a Virtual Reality (VR) drivin...
2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), 2019
Autonomy and social inclusion can reveal themselves everyday challenges for people experiencing m... more Autonomy and social inclusion can reveal themselves everyday challenges for people experiencing mobility impairments. These people can benefit from technical aids such as power wheelchairs to access mobility and overcome social exclusion. However, power wheelchair driving is a challenging task which requires good visual, cognitive and visuo-spatial abilities. Besides, a power wheelchair can cause material damage or represent a danger of injury for others or oneself if not operated safely. Therefore, training and repeated practice are mandatory to acquire safe driving skills to obtain power wheelchair prescription from therapists. However, conventional training programs may reveal themselves insufficient for some people with severe impairments. In this context, Virtual Reality offers the opportunity to design innovative learning and training programs while providing realistic wheelchair driving experience within a virtual environment. In line with this, we propose a user-centered design of a multisensory power wheelchair simulator. This simulator addresses classical virtual experience drawbacks such as cybersickness and sense of presence by combining 3D visual rendering, haptic feedback and motion cues. It relies on a modular and versatile workflow enabling not only easy interfacing with any virtual display, but also with any user interface such as wheelchair controllers or feedback devices. This paper presents the design of the first implementation as well as its first commissioning through pretests. The first setup achieves consistent and realistic behavior.
Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction, 2020
Autonomy and the ability to maintain social activities can be challenging for people with disabil... more Autonomy and the ability to maintain social activities can be challenging for people with disabilities experiencing reduced mobility. In the case of disabilities that impact mobility, power wheelchairs can help such people retain or regain autonomy. Nonetheless, driving a power wheelchair is a complex task that requires a combination of cognitive, visual and visuo-spatial abilities. In practice, people need to pass prior ability tests and driving training before being prescribed a power wheelchair by their therapist. Still, conventional training in occupational therapy can be insufficient for some people with severe cognitive and/or visuo-spatial functions. As such, these people are often prevented from obtaining a power wheelchair prescription from their therapist due to safety concerns. In this context, driving simulators might be efficient and promising tools to provide alternative, adaptive, flexible, and safe training. In previous work, we proposed a Virtual Reality (VR) driving simulator integrating vestibular feedback to simulate wheelchair motion sensations. The performance and acceptability of a VR simulator rely on satisfying user Quality of Experience (QoE). Therefore, our simulator is designed to give the user a high Sense of Presence (SoP) and low Cybersickness. This paper presents a pilot study assessing the impact of the vestibular feedback provied on user QoE. Participants were asked to perform a driving task whilst in the simulator under two conditions: with and without vestibular feedback. User QoE is assessed through subjective questionnaires measuring user SoP and cybersickness. The results show that vestibular feedback activation increases SoP and decreases cybersickness. This study constitutes a mandatory step before clinical trials and, as such, only enrolled people without disabilities.
IEEE Transactions on Affective Computing, 2020
Previous studies about kinesthetic expressions of emotions are mainly based on acted expressions ... more Previous studies about kinesthetic expressions of emotions are mainly based on acted expressions of emotions, which can be quite different from spontaneous expressions. This paper describes a study involving a stress induction procedure and stress perception through haptic expressions with N total = 41 young men (aged 19´37), all right-handed. We designed a game application to collect spontaneous expressions of stress. This application involved haptic interactions and a stressful event. We observed changes in the haptic behaviors of the participants over different phases: before, during and after the stress induction. In the next step, we investigated how the collected haptic behaviors (both kinematic and force components) were haptically perceived by the other participants. The results suggest the ability of kinesthetic expressions to communicate a spontaneous stress from one person to another.
Frontiers in ICT, 2018
This paper surveys the haptic technologies deployed in cars and their uses to enhance drivers' sa... more This paper surveys the haptic technologies deployed in cars and their uses to enhance drivers' safety during manual driving. These technologies enable to deliver haptic (tactile or kinesthetic) feedback at various areas of the car, such as the steering wheel, the seat, or the pedal. The paper explores two main uses of the haptic modality to fulfill the safety objective: to provide driving assistance and warning. Driving assistance concerns the transmission of information usually conveyed with other modalities for controlling the car's functions, maneuvering support, and guidance. Warning concerns the prevention of accidents using emergency warnings, increasing the awareness of surroundings, and preventing collisions, lane departures, and speeding. This paper discusses how haptic feedback has been introduced so far for these purposes and provides perspectives regarding the present and future of haptic cars meant to increase driver's safety.
IEEE Transactions on Visualization and Computer Graphics, 2017
Does it feel the same when you touch an object in Augmented Reality (AR) or in Virtual Reality (V... more Does it feel the same when you touch an object in Augmented Reality (AR) or in Virtual Reality (VR)? In this paper we study and compare the haptic perception of stiffness of a virtual object in two situations: (1) a purely virtual environment versus (2) a real and augmented environment. We have designed an experimental setup based on a Microsoft HoloLens and a haptic force-feedback device, enabling to press a virtual piston, and compare its stiffness successively in either Augmented Reality (the virtual piston is surrounded by several real objects all located inside a cardboard box) or in Virtual Reality (the same virtual piston is displayed in a fully virtual scene composed of the same other objects). We have conducted a psychophysical experiment with 12 participants. Our results show a surprising bias in perception between the two conditions. The virtual piston is on average perceived stiffer in the VR condition compared to the AR condition. For instance, when the piston had the same stiffness in AR and VR, participants would select the VR piston as the stiffer one in 60% of cases. This suggests a psychological effect as if objects in AR would feel "softer" than in pure VR. Taken together, our results open new perspectives on perception in AR versus VR, and pave the way to future studies aiming at characterizing potential perceptual biases.
Lecture Notes in Computer Science, 2016
In this paper, we study the perception of tactile directional cues by one or two fingers, using e... more In this paper, we study the perception of tactile directional cues by one or two fingers, using either the index, middle, or ring finger, or any of their combination. Therefore, we use tactile devices able to stretch the skin of the fingertips in 2 DOF along four directions: horizontal, vertical, and the two diagonals. We measure the recognition rate in each direction, as well as the subjective preference, depending on the (couple of) finger(s) stimulated. Our results show first that using the index and/or middle finger performs significantly better than using the ring finger on both qualitative and quantitative measures. The results when comparing one versus two-finger configurations are more contrasted. The recognition rate of the diagonals is higher when using one finger than two, whereas two fingers enable a better perception of the horizontal direction. These results pave the way to other studies on one versus two-finger perception, and raise methodological considerations for the design of multi-finger tactile devices.
2015 International Conference on Affective Computing and Intelligent Interaction (ACII), 2015
The use of virtual avatars, through facial or gestural expressions, is considered to be a main su... more The use of virtual avatars, through facial or gestural expressions, is considered to be a main support for affective communication. Currently, different works have studied the potential of a kinesthetic channel for conveying such information. However, they still have not investigated the complementarity between visual and kinesthetic feedback to effectively convey emotion. This paper studies the relation between some emotional dimensions and the visual and kinesthetic modalities. The experimental results show that subjects used visual and kinesthetic feedbacks to evaluate the pleasure and the arousal dimensions, respectively. We also observed a link between the recognition rate of emotions expressed with the visual modality (resp. kinesthetic modality) and the magnitude of that emotion's pleasure dimension (resp. arousal dimension). These different results should help in the selection of feedbacks according to the features of the investigated emotion.
2015 International Conference on Affective Computing and Intelligent Interaction (ACII), 2015
Previous studies about kinesthetic expressions of emotions are mainly based on acted expressions ... more Previous studies about kinesthetic expressions of emotions are mainly based on acted expressions of affective states, which might be quite different from spontaneous expressions. In a previous study, we proposed a task to collect haptic expressions of a spontaneous stress. In this paper, we explore the effectiveness of this task to induce a spontaneous stress in two ways : a subjective feedback, and a more objective approach-avoidance behavior.
Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, 2015
This paper deals with the haptic affective social interaction during a greeting handshaking betwe... more This paper deals with the haptic affective social interaction during a greeting handshaking between a human and a humanoid robot. The goal of this work is to study how the haptic interaction conveys emotions, and more precisely, how it influences the perception of the dimensions of emotions expressed through the facial expressions of the robot. Moreover, we examine the benefits of the multimodality (i.e., visuo-haptic) over the monomodality (i.e., visual-only and haptic-only). The experimental results with Meka robot show that the multimodal condition presenting high values for grasping force and joint stiffness are evaluated with higher values for the arousal and dominance dimensions than during the visual condition. Furthermore, the results corresponding to the monomodal haptic condition showed that participants discriminate well the dominance and the arousal dimensions of the haptic behaviours presenting low and high values for grasping force and joint stiffness.
International Journal of Human-Computer Interaction, 2014
ABSTRACT Several studies have investigated the relevance of haptics to convey various types of em... more ABSTRACT Several studies have investigated the relevance of haptics to convey various types of emotions physically. This article investigates the improvement of the recognition rate of emotions using visuo-haptic feedback compared to facial and haptic expressions alone. Four experiments were conducted in which the recognition rates of emotions using facial, haptic and visuo-haptic expressions were tested. The first experiment evaluates the recognition rate of emotions using facial expressions. The second experiment collects a large corpus of 3D haptic expressions of certain emotions and subsequently identifies the relevant haptic expression for each emotion. The third experiment evaluates the selected haptic expressions through statistical and perceptive tests to retain the ones that result in the most accurate identification of the corresponding emotion. Finally, the fourth experiment studies the effect of visuo–haptic coupling on the recognition of the investigated emotions. Generally, emotions with high amplitudes of pleasure are better recognized in the visual modality. However, emotions with high activation are better recognized in the haptic modality. These results also highlighted the finding that participants are not equally aided by each modality when recognizing emotions efficiently. Beyond the recognition rate, multimodal expressions improved the sensation of presence and expressivity.
Lecture Notes in Computer Science, 2014
The study of the potential of haptic channel to convey emotions is very promising for human-machi... more The study of the potential of haptic channel to convey emotions is very promising for human-machine interaction and mediated communication. However, main researches investigated acted emotions that are not representative of natural and spontaneous behaviors. This paper addresses the issue of expression of spontaneous emotions. In the context of a game application that involves haptic interaction, a suitable scenario and context were designed to elicit a spontaneous stressed affective state. The haptic behavior of participants was subsequently analyzed in order to highlight the changes during and after the elicitation of this affective state.
Proceedings of the 19th ACM Symposium on Virtual Reality Software and Technology, 2013
Exploring virtual environment with immersive metaphor is still largely unexplored, with the costl... more Exploring virtual environment with immersive metaphor is still largely unexplored, with the costly CAVE exception. This question takes importance in lots of fields, such as fluid mechanics, where space and time resolved dataset become more and more common. For that reason, we present an interaction design study of an window exploration metaphor, for large 3D virtual environment. The metaphor is based on the use of a tablet as a tangible and movable window on a virtual environment. Rotations in the environment are tracker-less mapped on the rotations of the tablet. Our design is inspired by fluid mechanics issues, but is build keeping generalizability in mind. The study shows that mapping three degrees of freedom onto corresponding real three degrees of freedom of space raises the transparency, the efficiency of data exploration and the space awareness of users.
Proceedings of the ACM Symposium on Applied Perception, 2014