# Integrated Haptic Feedback with Augmented Reality to Improve Pinching and Fine Moving of Objects
## 4 Discussion  
Our experiment integrated haptic feedback with augmented reality (AR) to provide users with an immersive experience similar to interacting with real-world objects. The results indicated that user performance, measured by distance error, improved with the use of haptic devices (see Tables 1 and 2) compared with using bare hands (refer to Table 3). This improvement was observed across all three axes and was evident in both the mean and median values. Additionally, the haptic devices were associated with lower standard deviation values, suggesting greater consistency in performance. The interquartile range (IQR) was also reduced when haptic feedback was utilized, further reinforcing the reliability and precision of the haptic devices. The results presented in Table 4 highlight the statistical differences in distance error between the bare-hand condition and both the glove and ring conditions. The haptic devices provide informative feedback that helps users understand task completion when the distance error is minimized. Furthermore, user performance in terms of execution time is significantly better with the haptic rings compared with the bare hand (see Table 2 vs. Table 3), which is also supported by the statistical differences shown in Table 4. In contrast, there are no statistically significant differences when comparing the bare hand to the bHaptics glove. The differences in execution time between the two devices become particularly clear when directly compared (see Table 1 vs. Table 2), with the results favoring the haptic rings being statistically significant (as shown in Table 3). The slower performance observed with the bHaptic glove can be attributed to the higher number of trials required by users, particularly along the X direction (see Table 2 compared with Table 3). The increased number of trials correlates with more pinching activations, indicating that as the number of trials increases. This phenomenon may occur due to a loss of tracking during pinching, which can result from the altered shape and appearance of the hand while wearing the full glove. However, statistically speaking, there was no significant difference in the number of trials conducted using the two haptic devices, as presented in Table 4.  
Given the questionnaire answers, users praised the application for its intuitiveness and its ability to facilitate task comprehension, achieving the highest score for the learning time (mean = \(2.1\pm 0.31\)). This was further reflected in the questionnaire metrics: Software Usability and Effectiveness (mean = \(1.5\pm 0.26\)), User Interface (mean = \(1.5\pm 0.30\)), and User Flexibility (mean = \(1.4\pm 0.44\)), all of which received high scores, presenting a significant improvement in user performance, as shown (Table 5). Nonetheless, the study also identified areas for improvement. User Support received a lower mean score (\(0.47\pm 0.35\)), as \begin{table}
\begin{tabular}{l l l l l l} \hline \hline
**Questionnaire** & **Mean** & **Median** & **SE** & **STD** & **IQR** \\ \hline Software Usability and Effectiveness & \(1.50\) & \(1.75\) & \(0.26\) & \(0.91\) & \(1\) \\ Graphic User Interface & \(1.50\) & \(1\) & \(0.30\) & \(0.93\) & \(1.5\) \\ User Support & \(0.47\) & \(0.17\) & \(0.35\) & \(1.06\) & \(1.5\) \\ Learning Time & \(2.10\) & \(2.25\) & \(0.31\) & \(1.04\) & \(1.375\) \\ User Flexibility & \(1.40\) & \(1.5\) & \(0.44\) & \(1.07\) & \(1\) \\ Troubleshooting & \(0.75\) & \(0.75\) & \(0.37\) & \(1.10\) & \(1.375\) \\ Error Handling & \(-0.10\) & \(0\) & \(0.48\) & \(1.46\) & \(2.125\) \\ Adaptability & \(0.85\) & \(1.25\) & \(0.52\) & \(1.71\) & \(2\) \\ \hline \hline \end{tabular}
\end{table} 
Table 5: User responses grouped into categories on a Likert scale questionnaire (\(-3\) to \(+3\)). SE: Standard Error, STD: Standard Deviation, IQR: Interquartile Range. did Troubleshooting (\(0.75\pm 0.37\)) and Adaptability (\(0.85\pm 0.52\)). These results indicate that enhancements could be made by incorporating system-generated messages or prompts.