# Integrated Haptic Feedback with Augmented Reality to Improve Pinching and Fine Moving of Objects
## 3 Results  
We estimated a delay between the haptic and visual events of 32 ms with both devices. The following Tables 1-3 report the experiment results wearing bHaptics gloves and the haptic rings and with the bare hand. The median error along the combined three axes with the bare hand was 10.3 mm (IQR = 13.1), while the median time for task completion was 10.0 s (IQR = 4.0 s); with the bHaptic glove, it was 2.4 mm (IQR 5.2 mm) in a median time of 8.0 s (IQR = 6.0 s), and with the haptic rings, it was 2.0 mm (IQR 2.0 mm) in a median time of 6.0 s (IQR = 5.0 s). Trials represent the number of pinch actions.  
Table 2 shows the results of the users while wearing the haptic rings.  
The following Table 3 shows the bare-hand results.  
Results for the Friedman test showed there was no significant difference between the modalities in terms of number of trials (pinches), as the \(p\)-value was 0.1133, while for the distance error \(p\)-value was 9.3113 \(\times\) 10\({}^{-6}\), indicating a significant difference at least between two modalities, and the same for the \"Time\" where the \(p\)-value was 0.0016. Table 4 shows the SPSS results for the combined data from each axis of each factor and compares the significant difference after applying a non-parametric (Wilcoxon Signed-Rank) test, corrected by the Benjamini-Yekutieli correction value using MATLAB 2025a.  
\begin{table}
\begin{tabular}{l c c c} \hline \hline \multirow{2}{*}{**Metric**} & **X-Axis** & **Y-Axis** & **Z-Axis** \\  & **Distance Error/Trials/Time** & **Distance Error/Trials/Time** & **Distance Error /Trials/Time** \\ \hline Mean & 5.1/2.5/00:13 & 9.5/1.5/00:11 & 1.7/1.91/00:05 \\ Median & 2.5/3/00:10 & 4.9/1/00:10 & 0.9/1/00:04 \\ SD & 6.4/0.8/00:07 & 10.8/0.9/00:07 & 2.1/1.30/00:02 \\ IQR & 2.0/1/00:11 & 16.7/1/00:04 & 2.1/1.5/00:03 \\ SE & 1.9/0.2/00:02 & 3.3/0.3/00:02 & 0.6/0.39/00:01 \\ \hline \hline \end{tabular}
\end{table}
Table 1: User experiment results with the bHaptics gloves.  
\begin{table}
\begin{tabular}{l c c c} \hline \hline \multirow{2}{*}{**Metric**} & **X-Axis** & **Y-Axis** & **Z-Axis** \\  & **Distance Error/Trials/Time** & **Distance Error/Trials/Time** & **Distance Error /Trials/Time** \\ \hline Mean & 2.9/1.5/00:07 & 5.5/1.9/00:07 & 3.1/1.22/00:04 \\ Median & 2.0/1/00:08 & 2.8/2/00:06 & 2.0/1.0/00:04 \\ SD & 3.3/0.7/00:05 & 6.1/1.0/00:03 & 2.9/0.4/00:01 \\ IQR & 2.0/1.0/00:06 & 7.1/1.5/00:02 & 1.6/0.0/00:02 \\ SE & 1.0/0.2/00:02 & 1.9/0.3/00:01 & 0.9/0.1/00:01 \\ \hline \hline \end{tabular}
\end{table}
Table 2: User experiment results with the haptic rings.  
\begin{table}
\begin{tabular}{l c c c} \hline \hline \multirow{2}{*}{**Metric**} & **X-Axis** & **Y-Axis** & **Z-Axis** \\  & **Distance Error/Trials/Time** & **Distance Error/Trials/Time** & **Distance Error /Trials/Time** \\ \hline Mean & 14.2/1.5/00:13 & 12.8/1.4/00:09 & 12.1/1.10/00:10 \\ Median & 10.1/1.2/00:13 & 10.1/1.0/00:10 & 11.0/1.0/00:10 \\ SD & 11.1/0.5/00:06 & 9.0/0.4/00:02 & 10.6/0.5/00:04 \\ IQR & 16.3/0.5/00:09 & 5.7/0.0/00:02 & 15.8/0.3/00:04 \\ SE & 3.5/0.4/00:02 & 27/0.3/00:01 & 3.2/0.3/00:01 \\ \hline \hline \end{tabular}
\end{table}
Table 3: User experiment results with bare hands.  
Finally, based on the analysis of participants' questionnaire responses and after organizing the questions into relevant categories, Table 5 presents the corresponding metric values for each category.