Complete related work

1-introduction/related-work/1-haptic-hand.tex

@@ -4,16 +4,16 @@
 % describe how the hand senses and acts on its environment to perceive the haptic properties of real everyday objects.
 
 The haptic sense has specific characteristics that make it unique in regard to other senses.
-It enables us to perceive a large diversity of properties in the surrounding objects, through to a complex combination of sensations produced by numerous sensory receptors distributed throughout the body, but particularly in the hand.
-It also allows us to act with the hand on these objects, to come into contact with them, to grasp them, to actively explore them, and to manipulate them.
+It enables us to perceive a large diversity of properties of the everyday objects, up to a complex combination of sensations produced by numerous sensory receptors distributed throughout the body, but particularly in the hand.
+It also allows us to act on these objects with the hand, to come into contact with them, to grasp them, to actively explore them, and to manipulate them.
 This implies that the haptic perception is localized at the points of contact between the hand and the environment, \ie we cannot haptically perceive an object without actively touching it.
-These two mechanisms, \emph{action} and \emph{perception}, are therefore closely associated and both essential to form the haptic experience of interacting with the environment using the hand \cite{lederman2009haptic}.
+These two mechanisms, \emph{action} and \emph{perception}, are therefore closely associated and both are essential to form the haptic experience of interacting with the environment using the hand \cite{lederman2009haptic}.
 
 
 \subsection{The Haptic Sense}
 \label{haptic_sense}
 
-Perceiving the properties of an object involves numerous sensory receptors embedded in the skin, but also in the muscles and joints of the hand, and distributed across the body. They are divided into two main modalities: \emph{cutaneous} and \emph{kinesthetic}.
+Perceiving the properties of an object involves numerous sensory receptors embedded in the skin, but also in the muscles and joints of the hand, and distributed across the body. They can be divided into two main modalities: \emph{cutaneous} and \emph{kinesthetic}.
 
 \subsubsection{Cutaneous Sensitivity}
 \label{cutaneous_sensitivity}
@@ -223,19 +223,19 @@ However, as the speed of exploration changes the transmitted vibrations, a faste
     \subfig[.5]{klatzky2003feeling_2}
 \end{subfigs}
 
-Even when the fingertips are deafferented (absence of cutaneous sensations), the perception of roughness is maintained \cite{libouton2012tactile}, thanks to the propagation of vibrations in the finger, hand and wrist, for both pattern and "natural" textures \cite{delhaye2012textureinduced}.
+Even when the fingertips are deafferented (absence of cutaneous sensations), the perception of roughness is maintained \cite{libouton2012tactile}, thanks to the propagation of vibrations in the finger, hand and wrist, for both pattern and "natural" everyday textures \cite{delhaye2012textureinduced}.
 The spectrum of vibrations shifts to higher frequencies as the exploration speed increases, but the brain integrates this change with proprioception to keep the \emph{perception constant} of the texture.
 For patterned textures, as illustrated in \figref{delhaye2012textureinduced}, the ratio of the finger speed $v$ to the frequency of the vibration intensity peak $f_p$ is measured most of the time equal to the period $\lambda$ of the spacing of the elements:
 \begin{equation}{grating_vibrations}
     \lambda \sim \frac{v}{f_p}
 \end{equation}
 
-The vibrations generated by exploring natural textures are also very specific to each texture and similar between individuals, making them identifiable by vibration alone \cite{manfredi2014natural,greenspon2020effect}.
+The vibrations generated by exploring everyday textures are also very specific to each texture and similar between individuals, making them identifiable by vibration alone \cite{manfredi2014natural,greenspon2020effect}.
 This shows the importance of vibration cues even for macro textures and the possibility of generating virtual texture sensations with vibrotactile rendering.
 
 \fig[0.55]{delhaye2012textureinduced}{Speed of finger exploration (horizontal axis) on grating textures with different periods $\lambda$ of spacing (in color) and frequency of the vibration intensity peak $f_p$ propagated in the wrist (vertical axis) \cite{delhaye2012textureinduced}.}
 
-The everyday natural textures are more complex to study because they are composed of multiple elements of different sizes and spacings.
+The everyday textures are more complex to study because they are composed of multiple elements of different sizes and spacings.
 In addition, the perceptions of micro and macro roughness overlap and are difficult to distinguish \cite{okamoto2013psychophysical}.
 Thus, individuals have a subjective definition of roughness, with some paying more attention to larger elements and others to smaller ones \cite{bergmanntiest2007haptic}, or even including other perceptual properties such as hardness or friction \cite{bergmanntiest2010tactual}.
 
@@ -276,10 +276,10 @@ With finger pressure, a relative difference (the \emph{Weber fraction}) of \perc
 However, in the absence of pressure sensations (by placing a thin disc between the finger and the object), the necessary relative difference becomes much larger (Weber fraction of \percent{\sim 50}).
 Thus, the perception of hardness relies on \percent{90} on surface deformation cues and \percent{10} on displacement cues.
 In addition, an object with low stiffness but high Young's modulus can be perceived as hard, and vice versa, as shown in \figref{bergmanntiest2009cues}.
-Finally, when pressing with the finger, the perceived hardness intensity $h$ follows a power law with the stiffness $k$ \cite{harper1964subjective}:
-\begin{equation}{hardness_intensity}
-    h = k^{0.8}
-\end{equation}
+%Finally, when pressing with the finger, the perceived hardness intensity $h$ follows a power law with the stiffness $k$ \cite{harper1964subjective}:
+%\begin{equation}{hardness_intensity}
+%    h = k^{0.8}
+%\end{equation}
 
 %En pressant du doigt, l'intensité perçue (subjective) de dureté suit avec la raideur une relation selon une loi de puissance avec un exposant de \num{0.8} \cite{harper1964subjective}, \ie quand la raideur double, la dureté perçue augmente de \num{1.7}.
 %\textcite{bergmanntiest2009cues} ont ainsi observé une relation quadratique d'égale intensité perçue de dureté, comme illustré sur la \figref{bergmanntiest2009cues}.