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題名 Guidance++: 透過呈現手腕戳動回饋達成六自由度導引
Guidance++: Rendering Poking Feedback on a Wrist for 6DoF Guidance作者 蔣翊亭
Chiang, Yi-Ting貢獻者 蔡欣叡<br>陶亞倫
Tsai, Hsin-Ruey<br>Tao, Ya-Lun
蔣翊亭
Chiang, Yi-Ting關鍵詞 觸感回饋
力回饋
操作性導引
力導引
虛擬實境
穿戴式裝置
Haptic feedback
Force feedback
Manipulation guidance
Force guidance
Virtual reality
Wearable device日期 2022 上傳時間 5-十月-2022 09:27:05 (UTC+8) 摘要 觸覺引導在虛擬實境(VR)中的遠端協作或是導引中，是可以與視覺導引結合或是互補的。為了實現手部的複雜操作性甚至是軌跡導引，需要一個不會佔用操作、在平移和旋轉方向均可以直覺且無需複雜的觸覺模式呈現高自由度的非手持式導引裝置。然而，現有的導引方式不是利用耗費心力的觸覺模式去呈線，就是在平移和旋轉方向上均無法呈現出高自由度。因此，我們提出了Guidance++，一個基於手腕、透過戳動回饋以呈現出平移和旋轉方向的六自由度導引的輕型裝置。藉由模擬現實世界中有人戳動、搬動、劃動其手腕的觸覺回饋，戳動裝置會沿著腕帶去移動，並且藉戳角的傾斜以呈現出六自由度的戳動指示。我們進行了導引實驗，分別針對軌跡和旋轉導引的能力以及表現進行評估。此外，我們進行了VR實驗，以觀察並且展示Guidance++如何引導使用者完成由一系列有順序的步驟所構成的操作性任務。
In telecollaboration or guidance in virtual reality (VR), haptic guidance could be combined and complemented with visual guidance.To achieve sophisticated manipulation or even trajectory guidance on a hand, a hands-free guidance device, not occupying manipulation, with high degrees-of-freedom (DoF) for both translation and rotation directions while without complicated haptic patterns for intuition is required.However, the current guidance methods either leverage haptic patterns increasing mental efforts or do not achieve such high DoF for both translation and rotation directions.Therefore, we propose a lightweight wrist-worn device, Guidance++, to render 6DoF poking guidance cues in translation and rotation directions.Guidance++ consists of a wristband and two poking sets with two tiltable tactors on each poking set.The poking sets move along the wristband and tilt the tactors to render poking cues in 6DoF as being poked by others in the real world.We conducted a guidance study to evaluate the performance in trajectory and rotation guidance, separately.Furthermore, we performed a VR experience study to observe and show how Guidance++ guides users in manipulation tasks, consisting of a sequence of steps.參考文獻 (2020). Exos wrist dk2, retrieved december 15.Aggravi, M., Salvietti, G., and Prattichizzo, D. (2016). Haptic wrist guidance using vi- brations for human-robot teams. In 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pages 113-118. IEEE.Amemiya, T. and Gomi, H. (2014). Buru-navi3: Behavioral navigations using illusory pulled sensation ceated by thumb-sized vibrator. In ACM SIGGRAPH 2014 Emerg- ing Technologies, SIGGRAPH `14, New York, NY, USA. Association for Computing Machinery.Berning, M., Braun, F., Riedel, T., and Beigl, M. (2015). Proximityhat: a head-worn system for subtle sensory augmentation with tactile stimulation. In Proceedings of the 2015 ACM International Symposium on Wearable Computers, pages 31-38. ACM.Chang, H.-Y., Tseng, W.-J., Tsai, C.-E., Chen, H.-Y., Peiris, R. L., and Chan, L. (2018). Facepush: Introducing normal force on face with head-mounted displays. In Proceed- ings of the 31st Annual ACM Symposium on User Interface Software and Technology, UIST `18, page 927-935, New York, NY, USA. Association for Computing Machinery.Chen, C.-Y., Chen, Y.-Y., Chung, Y.-J., and Yu, N.-H. (2016). Motion guidance sleeve: Guiding the forearm rotation through external artificial muscles. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems, pages 3272-3276. ACM.Chinello, F., Pacchierotti, C., Tsagarakis, N. G., and Prattichizzo, D. (2016). Design of a wearable skin stretch cutaneous device for the upper limb. In 2016 IEEE Haptics Symposium (HAPTICS), pages 14-20. IEEE.Culbertson, H., Walker, J. M., Raitor, M., and Okamura, A. M. (2017). Waves: A wear- able asymmetric vibration excitation system for presenting three-dimensional transla- tion and rotation cues. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems, CHI `17, pages 4972-4982, New York, NY, USA. ACM.Gaponov, I., Popov, D., Lee, S. J., and Ryu, J.-H. (2017). Auxilio: A portable cable-driven exosuit for upper extremity assistance. International Journal of Control, Automation and Systems, 15(1):73-84.Goto, T., Das, S., Kurita, Y., and Kunze, K. (2018). Artificial motion guidance: An intu- itive device based on pneumatic gel muscle (pgm). In The 31st Annual ACM Symposium on User Interface Software and Technology Adjunct Proceedings, UIST `18 Adjunct, page 182-184, New York, NY, USA. Association for Computing Machinery.Guinan, A. L., Hornbaker, N. C., Montandon, M. N., Doxon, A. J., and Provancher, W. R. (2013). Back-to-back skin stretch feedback for communicating five degree-of-freedom direction cues. In 2013 World Haptics Conference (WHC), pages 13-18.Gunther, S., Muller, F., Funk, M., Kirchner, J., Dezfuli, N., and Muhlhauser, M. (2018). Tactileglove: Assistive spatial guidance in 3d space through vibrotactile navigation. In Proceedings of the 11th PErvasive Technologies Related to Assistive Environments Conference, PETRA `18, page 273-280, New York, NY, USA. Association for Com- puting Machinery.Gunther, S., Muller, F., Funk, M., Kirchner, J., Dezfuli, N., and Muhlhauser, M. (2018). Tactileglove: Assistive spatial guidance in 3d space through vibrotactile navigation. In Proceedings of the 11th PErvasive Technologies Related to Assistive Environments Conference, pages 273-280. ACM.Heo, S., Chung, C., Lee, G., and Wigdor, D. (2018). Thor`s hammer: An ungrounded force feedback device utilizing propeller-induced propulsive force. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems, page 525. ACM.Huppert, F., Hoelzl, G., and Kranz, M. (2021). Guidecopter - a precise drone-based hapticguidance interface for blind or visually impaired people. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems, CHI `21, New York, NY, USA. Association for Computing Machinery.Ion, A., Wang, E. J., and Baudisch, P. (2015). Skin drag displays: Dragging a physical tactor across the user`s skin produces a stronger tactile stimulus than vibrotactile. In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems, CHI `15, page 2501-2504, New York, NY, USA. Association for Computing Machinery.Jin, Y. S., Chun, H. Y., Kim, E. T., and Kang, S. (2014). Vt-ware: A wearable tactile device for upper extremity motion guidance. In The 23rd IEEE International Symposium on Robot and Human Interactive Communication, pages 335-340. IEEE.Kaul, O. B., Pfeiffer, M., and Rohs, M. (2016). Follow the force: Steering the index finger towards targets using ems. In Proceedings of the 2016 CHI Conference Extended Abstracts on Human Factors in Computing Systems, CHI EA `16, page 2526-2532, New York, NY, USA. Association for Computing Machinery.Kaul, O. B. and Rohs, M. (2017). Haptichead: A spherical vibrotactile grid around the head for 3d guidance in virtual and augmented reality. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems, pages 3729-3740. ACM.Kayhan, O., Nennioglu, A. K., and Samur, E. (2018). A skin stretch tactor for sensory substitution of wrist proprioception. In 2018 IEEE Haptics Symposium (HAPTICS), pages 26-31.Kim, T., Shim, Y. A., and Lee, G. (2021). Heterogeneous stroke: Using unique vibration cues to improve the wrist-worn spatiotemporal tactile display. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems, CHI `21, New York, NY, USA. Association for Computing Machinery.Kiss, F., Boldt, R., Pfleging, B., and Schneegass, S. (2018). Navigation systems for mo-torcyclists: Exploring wearable tactile feedback for route guidance in the real world. CHI `18, page 1-7, New York, NY, USA. Association for Computing Machinery.Langerak, T., Zarate, J., Vechev, V., Panozzo, D., and Hilliges, O. (2019). A demonstration on dynamic drawing guidance via electromagnetic haptic feedback. UIST `19, page 110-112, New York, NY, USA. Association for Computing Machinery.Liu, C., Zhu, C., Liang, H., Yoshioka, M., Murata, Y., and Yu, Y. (2016). Development of a light wearable exoskeleton for upper extremity augmentation. In 2016 23rd Inter- national Conference on Mechatronics and Machine Vision in Practice (M2VIP), pages 1-6. IEEE.Lopes, P., Jonell, P., and Baudisch, P. (2015). Affordance++ allowing objects to commu- nicate dynamic use. In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems, pages 2515-2524.Marquardt, A., Trepkowski, C., Eibich, T. D., Maiero, J., Kruijff, E., and Schoning, J. (2020). Comparing non-visual and visual guidance methods for narrow field of view augmented reality displays. IEEE Transactions on Visualization and Computer Graph- ics, 26(12):3389-3401.Nith, R., Teng, S.-Y., Li, P., Tao, Y., and Lopes, P. (2021). Dextrems: Increasing dexterity in electrical muscle stimulation by combining it with brakes. In The 34th Annual ACM Symposium on User Interface Software and Technology, UIST `21, page 414-430, New York, NY, USA. Association for Computing Machinery.Norman, S. L., Doxon, A. J., Gleeson, B. T., and Provancher, W. R. (2014). Planar hand motion guidance using fingertip skin-stretch feedback. IEEE transactions on haptics, 7(2):121-130.Nycz, C. J., Delph, M. A., and Fischer, G. S. (2015). Modeling and design of a tendon actuated soft robotic exoskeleton for hemiparetic upper limb rehabilitation. In 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pages 3889-3892. IEEE.Prabhu, D., Hasan, M. M., Wise, L., MacMahon, C., and McCarthy, C. (2020). Vi- brosleeve: A wearable vibro-tactile feedback device for arm guidance. In 2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology So- ciety (EMBC), pages 4909-4912. IEEE.Satpute, S. A., Canady, J. R., Klatzky, R. L., and Stetten, G. D. (2020). Fingersight: A vibrotactile wearable ring for assistance with locating and reaching objects in periper- sonal space. EEE Trans. Haptics, 13(2):325-333.Schirmer, M., Hartmann, J., Bertel, S., and Echtler, F. (2015). Shoe me the way: A shoe-based tactile interface for eyes-free urban navigation. In Proceedings of the 17th International Conference on Human-Computer Interaction with Mobile Devices and Services, MobileHCI `15, pages 327-336, New York, NY, USA. ACM.Sodhi, R., Benko, H., and Wilson, A. (2012). Lightguide: Projected visualizations for hand movement guidance. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, CHI `12, pages 179-188, New York, NY, USA. ACM.Tamaki, E., Miyaki, T., and Rekimoto, J. (2011). Possessedhand: Techniques for con- trolling human hands using electrical muscles stimuli. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, CHI `11, pages 543-552, New York, NY, USA. ACM.Tanaka, Y., Nishida, J., and Lopes, P. (2022). Electrical head actuation: Enabling inter- active systems to directly manipulate head orientation. In CHI Conference on Human Factors in Computing Systems, CHI `22, New York, NY, USA. Association for Com- puting Machinery.Tsai, H.-R., Chang, Y.-C., Wei, T.-Y., Tsao, C.-A., Koo, X. C.-y., Wang, H.-C., and Chen, B.-Y. (2021). Guideband: Intuitive 3d multilevel force guidance on a wristband in virtual reality. In Proceedings of the 2021 CHI Conference on Human Factors in Com- puting Systems, CHI `21, New York, NY, USA. Association for Computing Machinery.Wang, C., Huang, D.-Y., Hsu, S.-w., Hou, C.-E., Chiu, Y.-L., Chang, R.-C., Lo, J.-Y., andChen, B.-Y. (2019). Masque: Exploring lateral skin stretch feedback on the face with head-mounted displays. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology, pages 439-451. 描述 碩士
國立政治大學
數位內容碩士學位學程
109462019資料來源 http://thesis.lib.nccu.edu.tw/record/#G0109462019 資料類型 thesis dc.contributor.advisor 蔡欣叡<br>陶亞倫 zh_TW dc.contributor.advisor Tsai, Hsin-Ruey<br>Tao, Ya-Lun en_US dc.contributor.author (作者) 蔣翊亭 zh_TW dc.contributor.author (作者) Chiang, Yi-Ting en_US dc.creator (作者) 蔣翊亭 zh_TW dc.creator (作者) Chiang, Yi-Ting en_US dc.date (日期) 2022 en_US dc.date.accessioned 5-十月-2022 09:27:05 (UTC+8) - dc.date.available 5-十月-2022 09:27:05 (UTC+8) - dc.date.issued (上傳時間) 5-十月-2022 09:27:05 (UTC+8) - dc.identifier (其他 識別碼) G0109462019 en_US dc.identifier.uri (URI) http://nccur.lib.nccu.edu.tw/handle/140.119/142173 - dc.description (描述) 碩士 zh_TW dc.description (描述) 國立政治大學 zh_TW dc.description (描述) 數位內容碩士學位學程 zh_TW dc.description (描述) 109462019 zh_TW dc.description.abstract (摘要) 觸覺引導在虛擬實境(VR)中的遠端協作或是導引中，是可以與視覺導引結合或是互補的。為了實現手部的複雜操作性甚至是軌跡導引，需要一個不會佔用操作、在平移和旋轉方向均可以直覺且無需複雜的觸覺模式呈現高自由度的非手持式導引裝置。然而，現有的導引方式不是利用耗費心力的觸覺模式去呈線，就是在平移和旋轉方向上均無法呈現出高自由度。因此，我們提出了Guidance++，一個基於手腕、透過戳動回饋以呈現出平移和旋轉方向的六自由度導引的輕型裝置。藉由模擬現實世界中有人戳動、搬動、劃動其手腕的觸覺回饋，戳動裝置會沿著腕帶去移動，並且藉戳角的傾斜以呈現出六自由度的戳動指示。我們進行了導引實驗，分別針對軌跡和旋轉導引的能力以及表現進行評估。此外，我們進行了VR實驗，以觀察並且展示Guidance++如何引導使用者完成由一系列有順序的步驟所構成的操作性任務。 zh_TW dc.description.abstract (摘要) In telecollaboration or guidance in virtual reality (VR), haptic guidance could be combined and complemented with visual guidance.To achieve sophisticated manipulation or even trajectory guidance on a hand, a hands-free guidance device, not occupying manipulation, with high degrees-of-freedom (DoF) for both translation and rotation directions while without complicated haptic patterns for intuition is required.However, the current guidance methods either leverage haptic patterns increasing mental efforts or do not achieve such high DoF for both translation and rotation directions.Therefore, we propose a lightweight wrist-worn device, Guidance++, to render 6DoF poking guidance cues in translation and rotation directions.Guidance++ consists of a wristband and two poking sets with two tiltable tactors on each poking set.The poking sets move along the wristband and tilt the tactors to render poking cues in 6DoF as being poked by others in the real world.We conducted a guidance study to evaluate the performance in trajectory and rotation guidance, separately.Furthermore, we performed a VR experience study to observe and show how Guidance++ guides users in manipulation tasks, consisting of a sequence of steps. en_US dc.description.tableofcontents 致謝 — i摘要 — ivAbstract — vCONTENTS — viList of Figures — viiChapter 1 Introduction — 1Chapter 2 Related Work — 31 Tactile Guidance — 32 Force Guidance — 43 Manipulation and Trajectory Guidance — 5Chapter 3 Guidance++ — 71 Design Considerations — 72 Hardware — 83 Software — 12Chapter 4 Guidance Study — 171 Participants and Apparatus — 172 Task and Procedure — 173 Results and Discussion — 20Chapter 5 VR Experience Study — 271 Participants and Apparatus — 272 Task and Procedure — 273 Results and Discussion — 31Chapter 6 Limitations and Future Work — 34Chapter 7 Conclusion — 35References — 36 zh_TW dc.format.extent 13009034 bytes - dc.format.mimetype application/pdf - dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0109462019 en_US dc.subject (關鍵詞) 觸感回饋 zh_TW dc.subject (關鍵詞) 力回饋 zh_TW dc.subject (關鍵詞) 操作性導引 zh_TW dc.subject (關鍵詞) 力導引 zh_TW dc.subject (關鍵詞) 虛擬實境 zh_TW dc.subject (關鍵詞) 穿戴式裝置 zh_TW dc.subject (關鍵詞) Haptic feedback en_US dc.subject (關鍵詞) Force feedback en_US dc.subject (關鍵詞) Manipulation guidance en_US dc.subject (關鍵詞) Force guidance en_US dc.subject (關鍵詞) Virtual reality en_US dc.subject (關鍵詞) Wearable device en_US dc.title (題名) Guidance++: 透過呈現手腕戳動回饋達成六自由度導引 zh_TW dc.title (題名) Guidance++: Rendering Poking Feedback on a Wrist for 6DoF Guidance en_US dc.type (資料類型) thesis en_US dc.relation.reference (參考文獻) (2020). Exos wrist dk2, retrieved december 15.Aggravi, M., Salvietti, G., and Prattichizzo, D. (2016). Haptic wrist guidance using vi- brations for human-robot teams. In 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pages 113-118. IEEE.Amemiya, T. and Gomi, H. (2014). Buru-navi3: Behavioral navigations using illusory pulled sensation ceated by thumb-sized vibrator. In ACM SIGGRAPH 2014 Emerg- ing Technologies, SIGGRAPH `14, New York, NY, USA. Association for Computing Machinery.Berning, M., Braun, F., Riedel, T., and Beigl, M. (2015). Proximityhat: a head-worn system for subtle sensory augmentation with tactile stimulation. In Proceedings of the 2015 ACM International Symposium on Wearable Computers, pages 31-38. ACM.Chang, H.-Y., Tseng, W.-J., Tsai, C.-E., Chen, H.-Y., Peiris, R. L., and Chan, L. (2018). Facepush: Introducing normal force on face with head-mounted displays. In Proceed- ings of the 31st Annual ACM Symposium on User Interface Software and Technology, UIST `18, page 927-935, New York, NY, USA. Association for Computing Machinery.Chen, C.-Y., Chen, Y.-Y., Chung, Y.-J., and Yu, N.-H. (2016). Motion guidance sleeve: Guiding the forearm rotation through external artificial muscles. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems, pages 3272-3276. ACM.Chinello, F., Pacchierotti, C., Tsagarakis, N. G., and Prattichizzo, D. (2016). Design of a wearable skin stretch cutaneous device for the upper limb. In 2016 IEEE Haptics Symposium (HAPTICS), pages 14-20. IEEE.Culbertson, H., Walker, J. M., Raitor, M., and Okamura, A. M. (2017). Waves: A wear- able asymmetric vibration excitation system for presenting three-dimensional transla- tion and rotation cues. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems, CHI `17, pages 4972-4982, New York, NY, USA. ACM.Gaponov, I., Popov, D., Lee, S. J., and Ryu, J.-H. (2017). Auxilio: A portable cable-driven exosuit for upper extremity assistance. International Journal of Control, Automation and Systems, 15(1):73-84.Goto, T., Das, S., Kurita, Y., and Kunze, K. (2018). Artificial motion guidance: An intu- itive device based on pneumatic gel muscle (pgm). In The 31st Annual ACM Symposium on User Interface Software and Technology Adjunct Proceedings, UIST `18 Adjunct, page 182-184, New York, NY, USA. Association for Computing Machinery.Guinan, A. L., Hornbaker, N. C., Montandon, M. N., Doxon, A. J., and Provancher, W. R. (2013). Back-to-back skin stretch feedback for communicating five degree-of-freedom direction cues. In 2013 World Haptics Conference (WHC), pages 13-18.Gunther, S., Muller, F., Funk, M., Kirchner, J., Dezfuli, N., and Muhlhauser, M. (2018). Tactileglove: Assistive spatial guidance in 3d space through vibrotactile navigation. In Proceedings of the 11th PErvasive Technologies Related to Assistive Environments Conference, PETRA `18, page 273-280, New York, NY, USA. Association for Com- puting Machinery.Gunther, S., Muller, F., Funk, M., Kirchner, J., Dezfuli, N., and Muhlhauser, M. (2018). Tactileglove: Assistive spatial guidance in 3d space through vibrotactile navigation. In Proceedings of the 11th PErvasive Technologies Related to Assistive Environments Conference, pages 273-280. ACM.Heo, S., Chung, C., Lee, G., and Wigdor, D. (2018). Thor`s hammer: An ungrounded force feedback device utilizing propeller-induced propulsive force. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems, page 525. ACM.Huppert, F., Hoelzl, G., and Kranz, M. (2021). Guidecopter - a precise drone-based hapticguidance interface for blind or visually impaired people. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems, CHI `21, New York, NY, USA. Association for Computing Machinery.Ion, A., Wang, E. J., and Baudisch, P. (2015). Skin drag displays: Dragging a physical tactor across the user`s skin produces a stronger tactile stimulus than vibrotactile. In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems, CHI `15, page 2501-2504, New York, NY, USA. Association for Computing Machinery.Jin, Y. S., Chun, H. Y., Kim, E. T., and Kang, S. (2014). Vt-ware: A wearable tactile device for upper extremity motion guidance. In The 23rd IEEE International Symposium on Robot and Human Interactive Communication, pages 335-340. IEEE.Kaul, O. B., Pfeiffer, M., and Rohs, M. (2016). Follow the force: Steering the index finger towards targets using ems. In Proceedings of the 2016 CHI Conference Extended Abstracts on Human Factors in Computing Systems, CHI EA `16, page 2526-2532, New York, NY, USA. Association for Computing Machinery.Kaul, O. B. and Rohs, M. (2017). Haptichead: A spherical vibrotactile grid around the head for 3d guidance in virtual and augmented reality. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems, pages 3729-3740. ACM.Kayhan, O., Nennioglu, A. K., and Samur, E. (2018). A skin stretch tactor for sensory substitution of wrist proprioception. In 2018 IEEE Haptics Symposium (HAPTICS), pages 26-31.Kim, T., Shim, Y. A., and Lee, G. (2021). Heterogeneous stroke: Using unique vibration cues to improve the wrist-worn spatiotemporal tactile display. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems, CHI `21, New York, NY, USA. Association for Computing Machinery.Kiss, F., Boldt, R., Pfleging, B., and Schneegass, S. (2018). Navigation systems for mo-torcyclists: Exploring wearable tactile feedback for route guidance in the real world. CHI `18, page 1-7, New York, NY, USA. Association for Computing Machinery.Langerak, T., Zarate, J., Vechev, V., Panozzo, D., and Hilliges, O. (2019). A demonstration on dynamic drawing guidance via electromagnetic haptic feedback. UIST `19, page 110-112, New York, NY, USA. Association for Computing Machinery.Liu, C., Zhu, C., Liang, H., Yoshioka, M., Murata, Y., and Yu, Y. (2016). Development of a light wearable exoskeleton for upper extremity augmentation. In 2016 23rd Inter- national Conference on Mechatronics and Machine Vision in Practice (M2VIP), pages 1-6. IEEE.Lopes, P., Jonell, P., and Baudisch, P. (2015). Affordance++ allowing objects to commu- nicate dynamic use. In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems, pages 2515-2524.Marquardt, A., Trepkowski, C., Eibich, T. D., Maiero, J., Kruijff, E., and Schoning, J. (2020). Comparing non-visual and visual guidance methods for narrow field of view augmented reality displays. IEEE Transactions on Visualization and Computer Graph- ics, 26(12):3389-3401.Nith, R., Teng, S.-Y., Li, P., Tao, Y., and Lopes, P. (2021). 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