From 1b1471e0cc79245747b45d7ea00f07e9aced03f6 Mon Sep 17 00:00:00 2001 From: Erwan Normand Date: Sat, 7 Sep 2024 10:45:03 +0200 Subject: [PATCH] Haptic devices --- .../related-work/1-wearable-haptics.tex | 51 +- .../related-work/figures/pezent2019tasbi.jpg | Bin 0 -> 79834 bytes references.bib | 4803 ++++++++--------- 3 files changed, 2427 insertions(+), 2427 deletions(-) create mode 100644 1-introduction/related-work/figures/pezent2019tasbi.jpg diff --git a/1-introduction/related-work/1-wearable-haptics.tex b/1-introduction/related-work/1-wearable-haptics.tex index e6d8cce..46bef3c 100644 --- a/1-introduction/related-work/1-wearable-haptics.tex +++ b/1-introduction/related-work/1-wearable-haptics.tex @@ -419,26 +419,26 @@ L'intégralité du système robotique est alors porté par l'utilisateur et form Un effet indésirable de cette conception est que la force de réaction est alors également transmise à l'utilisateur à l'endroit du corps où le dispositif est grounded (voir \figref{pacchierotti2017wearable_2}). Ils sont souvent lourds et encombrants, et ne peuvent pas être considérés comme wearable. -\textcite{pacchierotti2017wearable} définit que : "A wearable haptic interface should also be small, easy to carry, comfortable, and it should not impair the motion of the wearer". -Une approche consiste donc à déplacer le point de mise à la terre très proche de l'effecteur (voir \figref{pacchierotti2017wearable_3}) : l'interface est restreinte à un retour haptique cutané mais sa conception est plus compacte, légère, confortable et peu chère, comme un casque audio Bluetooth peut être parfaitement suffisant par rapport à un système Hi-Fi complet bien plus onéreux et encombrant. +\textcite{pacchierotti2017wearable} définit que : \enquote{A wearable haptic interface should also be small, easy to carry, comfortable, and it should not impair the motion of the wearer}. +Une approche consiste donc à déplacer le point de mise à la terre très proche de l'effecteur (voir \figref{pacchierotti2017wearable_3}) : l'interface est restreinte à un retour haptique cutané mais sa conception est plus compacte, légère et confortable, \eg in \figref{leonardis20173rsr}. %, comme un casque audio Bluetooth peut être parfaitement suffisant par rapport à un système Hi-Fi complet bien plus onéreux et encombrant. De plus, comme détaillé en \secref{object_properties}, les sensations cutanées sont nécessaires et souvent suffisantes pour la perception des propriétés haptiques d'un objet exploré avec la main. -% Tradeoff realistic and cost + analogy with sound, Hi-Fi costs a lot and is realistic, but 40$ BT headphone is more practical and enough, as cutaneous feedback without kinesthesic could be enough for wearable haptics and far more affordable and comfortable than world- or body-grounded haptics + cutaneous even better than kine for rendering surface curvature and fine manipulation - -Le rendu d'un dispositif haptique est déterminé par la nature des actuateurs employés, qui font interfaces entre le système haptique et la peau de l'utilisateur, et les types de stimulis qu'ils peuvent générer. Plusieurs types d'actuateurs sont souvent combinés pour obtenir des retours haptiques plus riches. Nous présentons brièvement ci-dessous les actuateurs wearables les plus représensatifs, suivant les catégories de \textcite{pacchierotti2017wearable}. - \begin{subfigs}{grounded_to_wearable}{ Examples of haptic devices for the hand with different levels of wearability. }[ \item Teleoperation of a virtual cube grasped with the thumb and index fingers each attached to a grounded haptic device~\cite{pacchierotti2015cutaneous}. \item A passive exoskeleton for fingers simulating stiffness of a trumpet's pistons~\cite{achibet2017flexifingers}. - \item Manipulation of a virtual cube with the tbum and index fingers each attached with the 3-RSR wearable haptic device~\cite{leonardis20173rsr}. + \item Manipulation of a virtual cube with the thumb and index fingers each attached with the 3-RSR wearable haptic device~\cite{leonardis20173rsr}. ] \subfig[.32]{pacchierotti2015cutaneous} \subfig[.32]{achibet2017flexifingers} \subfig[.32]{leonardis20173rsr} \end{subfigs} +% Tradeoff realistic and cost + analogy with sound, Hi-Fi costs a lot and is realistic, but 40$ BT headphone is more practical and enough, as cutaneous feedback without kinesthesic could be enough for wearable haptics and far more affordable and comfortable than world- or body-grounded haptics + cutaneous even better than kine for rendering surface curvature and fine manipulation + +Le rendu d'un dispositif haptique est déterminé par la nature des actuateurs employés, qui font interfaces entre le système haptique et la peau de l'utilisateur, et les types de stimulis qu'ils peuvent générer. Plusieurs types d'actuateurs sont souvent combinés pour obtenir des retours haptiques plus riches. Nous présentons brièvement ci-dessous les actuateurs wearables les plus représensatifs, suivant les catégories de \textcite{pacchierotti2017wearable}. + \paragraph{Moving Platforms} Les plateformes mobiles se déplacent perpendiculairement sur la peau pour générer des sensations de contact, de pression et de bords~\cite{pacchierotti2017wearable}. @@ -476,32 +476,36 @@ De conception similaire aux plateformes mobiles, les actuateurs qui fournissent Une structure de bras activées par des moteurs déplacent ainsi l'effecteur en contact avec la peau dans plusieurs directions sur 2 \DoFs parallèlement à la peau, \eg in \figref{leonardis2015wearable}~\cite{leonardis2015wearable}. Certains actuateurs sont capables de rendre à la fois des mouvements normaux et tangentiels sur 3 \DoFs sur la peau ainsi qu'établir et cesser le contact avec le doigt, \eg in \figref{schorr2017fingertip}~\cite{schorr2017fingertip}. -Une approche alternative mécaniquement plus simple est de placer une ceinture sur le dessous du doigt et de l'activer sur 2 \DoFs par deux moteurs placés sur le dessus du doigt, \eg in \figref{minamizawa2007gravity}~\cite{minamizawa2007gravity}. +\paragraph{Compression Belts} + +Une approche alternative mécaniquement plus simple est de placer une ceinture sur le dessous du doigt et de l'activer sur 2 \DoFs par deux moteurs placés sur le dessus du doigt~\cite{minamizawa2007gravity}. En tournant dans des directions opposées, les moteurs raccourcissent la ceinture qui génère une sensation de pression sur le doigt. À l'inverse, en tournant simultanément dans la même direction, la ceinture tire la peau du doigt dans une sensation de cisaillement. -L'avantage de la simplicité de cette approche est de pouvoir placer l'actuateur sur n'importe quelle phalange du doigt et pas seulement sur le bout du doigt: \textcite{pacchierotti2016hring} ont ainsi proposé le hRing, une ceinture de cisaillement placée sur la phalange proximale laissant libre la main pour interagir avec le \RE. +La simplicité de cette approche permet de placer la ceinture ailleurs sur la main, laissant libre le bout du doigt pour interagir avec le \RE, \eg le hRing sur la phalange proximale de \textcite{pacchierotti2016hring} (voir \figref{pezent2019tasbi}) ou Tasbi sur le poignet de \textcite{pezent2019tasbi} (voir \figref{pezent2019tasbi}). -\begin{subfigs}{vibrotactile_actuators}{Tangential motion actuators. }[ +\begin{subfigs}{tangential_belts}{Tangential motion actuators and compression belts. }[ \item A skin strech actuator for the fingertip~\cite{leonardis2015wearable}. \item A 3 \DoF actuator capable of normal and tangential motion on the fingertip~\cite{schorr2017fingertip}. - \item A shearing belt actuator for the fingertip~\cite{minamizawa2007gravity}. + %\item A shearing belt actuator for the fingertip~\cite{minamizawa2007gravity}. \item The hRing, a shearing belt actuator for the proximal phalanx of the finger~\cite{pacchierotti2016hring}. + \item Tasbi, a wristband capable of pressure and vibrotactile feedback~\cite{pezent2019tasbi}. ] \subfigsheight{34mm} \subfig{leonardis2015wearable} \subfig{schorr2017fingertip} - \subfig{minamizawa2007gravity} \subfig{pacchierotti2016hring} + \subfig{pezent2019tasbi} \end{subfigs} \paragraph{Vibrotactile Actuators} Vibrotactile actuators are the most common and simplest wearable haptic interfaces, and are available as consumer products. +They are small, lightweight and can be placed directly on any part of the hand. \textcite{choi2013vibrotactile} provide a detailed review. All vibrotactile actuators are based on the same principle: generating an oscillating motion from an electric current with a frequency and amplitude high enough to be perceived by cutaneous mechanoreceptors. Several types of vibrotactile actuators are used in haptics, with different trade-offs between size, proposed \DoFs and application constraints: \begin{itemize} - \item An \ERM is a \DC motor that rotates an off-center mass when a voltage or current is applied (see \figref{precisionmicrodrives_erm}). \ERMs are easy to control, inexpensive and can be encapsulated in a few millimeters cylinder or coin form factor. They are widely used in many applications and consumer devices. However, they have only one \DoF because both the frequency and amplitude of the vibration are coupled to the speed of the rotation, \eg low (high) frequencies output at low (high) amplitudes, as shown on \figref{precisionmicrodrives_erm_performances}. + \item An \ERM is a \DC motor that rotates an off-center mass when a voltage or current is applied (see \figref{precisionmicrodrives_erm}). \ERMs are easy to control, inexpensive and can be encapsulated in a few millimeters cylinder or coin form factor. However, they have only one \DoF because both the frequency and amplitude of the vibration are coupled to the speed of the rotation, \eg low (high) frequencies output at low (high) amplitudes, as shown on \figref{precisionmicrodrives_erm_performances}. \item A \LRA consists of a coil that creates a magnetic field from an \AC to oscillate a magnet attached to a spring, as an audio loudspeaker (see \figref{precisionmicrodrives_lra}). They are more complex to control and a bit larger than \ERMs. Each \LRA is designed to vibrate with maximum amplitude at a given frequency, but won't vibrate efficiently at other frequencies, \ie their bandwidth is narrow, as shown on \figref{azadi2014vibrotactile}. \item A \VCA is a \LRA but capable of generating vibration at two \DoF, with an independent control of the frequency and amplitude of the vibration on a wide bandwidth. They are larger in size than \ERMs and \LRAs, but can generate more complex renderings. \item Piezoelectric actuators deform a solid material when a voltage is applied. They are very small and thin, and allow two \DoFs of amplitude and frequency control. However, they require high voltages to operate thus limiting their use in wearable devices. @@ -531,25 +535,22 @@ Several types of vibrotactile actuators are used in haptics, with different trad Le rendu tactile des propriétés haptiques consiste à modéliser et reproduire des sensations cutanées virtuelles comparables à celles perçues lors de l'interaction avec des objets réels. -\paragraph{Contact} +%, unlike most previous actuators that are designed specifically for fingertips and would require mechanical adaptation to be placed on other parts of the hand. +%thanks to the vibration propagation and the sensory capabilities distributed throughout the skin, they can be placed without adaption and on any part of the hand -\paragraph{Texture} +\paragraph{Contact} \paragraph{Hardness} -\paragraph{Temperature} - -\paragraph{Shape} - - -\subsubsection{Evaluating the Haptic Rendering} -\label{wearable_haptics_evaluation} +\paragraph{Texture} +%\subsubsection{Evaluating the Haptic Rendering} +%\label{wearable_haptics_evaluation} % -Les méthodes psychophysiques sont notamment utilisées pour étudier le sens du toucher avec des objets réels et sont ré-employées pour pour évaluer la perception par les utilisateurs des rendus haptiques virtuels. +%Les méthodes psychophysiques sont notamment utilisées pour étudier le sens du toucher avec des objets réels et sont ré-employées pour pour évaluer la perception par les utilisateurs des rendus haptiques virtuels. +%% +%\textcite{choi2013vibrotactile} présentent particulièrement bien les questions perceptuelles et les méthodes d'évaluations à considérer. % -\textcite{choi2013vibrotactile} présentent particulièrement bien les questions perceptuelles et les méthodes d'évaluations à considérer. - \subsection{Conclusion} \label{wearable_haptics_conclusion} diff --git a/1-introduction/related-work/figures/pezent2019tasbi.jpg b/1-introduction/related-work/figures/pezent2019tasbi.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6db0028cc692563f20a0e7e76193843d8a830a36 GIT binary patch literal 79834 zcmeFZbx>U2wl3NP2oT&8Jb{D|EWw=+f(7^BE)6t|H%+!qcE z4glb879b74eDL6}>%L&!U)Z?V*jQNDk8p4v;u1U}Ai#fwk55QMMnXtLN`#M3LPbJK zPC-dYNkB~fn2O>t83iT9U!7oJ-v0*+8xI>BkAe`Nkm6r1cP#)?+y}dua7>J6fCr=) zn4}nYzX1#Y48Xl<_vQlrv*6-A#JM*Q^TA)g+mHY-?(KeXZ#m8*Qe0e2y!-a|V|a)| zN{0IskNgeAGbwdS9y6*Z%yWLA%`2uf?~n7g>T2gW8;R>4Qdo(s5r zjmv_yKIY>W*3`22^*+1p_pscToZJ_z`}Yr`_?rd)k0pQICH>!a{pZ~o00HK`5u}); z07(Fx@BQ2N@3H=G_5Y!FATw#H_dK5zHa^c?^MRc+E2d$SeV3mgKagto;adGE6qNACmKKvQ0YX>lF?$2l8}=A zugbQp;<6xfgIH-NDZ*b;JyzNX@_mGjt;hiL=UN+I!v$5n6BZVzX2~xsY`9rhXTHM8 zXI=)}X;;~twJRyt1kKB=I=UujAtthAL@>YT-?x4p`rh$s*3O+L$@VzsC+r}bC_OkctT?${x}~I5XT(Xr=yG4 zO`rGaR^rQk=Y3|2XY~d44uXE7Yx2wYOC-vFZ{^vs2`Ll~3!{ZfCZFK! zBT~MQMNo*;pI5mpfquf$U(})WC5trl?DR+P0Cp3Mi$)ytuj?=v$34`!&!`ga0BcNA zg2Phf&D0qt*K}3KS^;|rGaG~DoZOpHd}Zww`SXM`k@Ht6rO2UBy=9nuHj9wZu9wmP zI&nErChOTF*8|^8X|i#HQ^7zBU7G1#PrrdBRiFG=oOXQcYkb<@sX@Jp&uOES2T)PI zTffjH5&Wa{+?5;3r-&xHUuQo=XkMCU`9{}{a|OSIM0?QISE7gQRjG-f&f;{vB~ReN z_9=lr@508aR~0J^ek^YB z&afYK@%z2h0*||y6Uzo@qhj$DdynuLFd}r9g`ZEvc3Wmd^%s?w{g9zhp2Mh*`W*{k z$ccWq{FTUs@v%4nHgB1gA9^^J+dI`Pjt6pHQK$~Iyt|Jv@X;I%@`ir(`w+8^tgo~bEImK@*uu;5WP%&b50XXMXRDag6s)n$%y<$zqY{|IYy&U@0(Yl5Oh9?dxR z&o$wEx@AHN_5mtVTb!p#LO!0j(hsEy)vpO#j*c#!mb1=S=6&gBIaZnIsyab(5d!@eT$gH$rerl%z|2&#BDD62Hg{oR!IMFTNmbtGOhy(t7%A(UT+{4;E>BJYF%QuFb0- z&3Yz$PZKNKQtC`VEGgJom_}osd`i$!s65$i@i%?7zcp#VV_Z}RLoOxcj~R06Bo|kv z*bQSfS-QwSC#n0`vTY<*y3z|ezW}iWV~bVa0a~jRIFXe6L}so{^E`!S4`CbNQi=m< zHu`okt1r&r3?3YE#4_Rer+9DbafYAnPaR{kF?!j!PF`1~%D`0AbTuQAYkkQ8w@i(t zM*t31Cpr&3>w-9uiX3aSH6`@rZZDM9h~-V>`~r{hZ9@kk3ksEYQcsUC^#p>?Sk!w-^HqTZV^%5*tZP z&lu?IG;{n!CO03Z>gRVj3LPKMPh%EuzRE5O1ZD>zllC}$Oql8L6=mmIu@VmOnMQU# z{^l54&DU_o#7iVKTRl;m{q+rv$MTyt%@ysA^KjvUu-^wc4 z&NZ5M^2lS_)Elx$pLLmAbgU1FGUn12rnFKTi^c=RcH*OHjn{m3=|7X!gIdnLxkG|O zwi!q60GHx6hnrtzPn9$_((T(N*sV%H*rQBcgwRJJjeQpMn!-V7POSZzck~q!8{$z} z_~~PVlsg!s;ol9!1Pu^oe8g`CH6w-vylv;{q#o$8M8Jq<55pUCNGsW$-A=|ke!5G_ zsK3CEepDR6Vy<5=ZYi6FNUh)L9((qMAW=77pqcLr*F6Qr#XYf5ZaE9wPwCy^sX7OW8=n&5-!k#5=)jB|Jnqni9K931fiKIa@E)>b_;sl6-{ zJIL=hCcDUR>FvrGPkK%zA(t4l)j)Xey?F;9Y$j@;HE?U3Nh&;!PlVE378Zg8K5km( zem;1w1Wr?U=4$E869O-_htjT)c^yt?3cvDwcPzm9%rUz)L8P7$0E>!*4NTm z+XPf!$18Xyxk;ODIOa2USKt`3?au{!0qsiTc|~m3U;PyBnE0^N-RDD)qJOIb{I-@{ z3z+u$Q+h?^l8#Q*J*1%^zxXe>_&*`+-?8$)e@~9y{{VB?F}291#>7R_x69Pa62akI zT2lP2C3>~XOF$?Ecek5i((fx)qzTQ;jE_6riMwmNq9P_eM^)c`hir==mur+MfHqc} ze@iZWAlIraHcq8PVD3>!fCr*LV9C$}ja(hZm!fqXrR`$g;(TK_G+$IVSQxlr0P2Mm zQP&IvuEc7KKtGpoP1Rwlt;)(SUsVLH`*^(M?9}jmU*|hYEFiKYS7U7dcwRZTGiX=E z>!u)1Gw`P4EFAj+0gN@5c+X!%+;4SCAi5)L&{;h4i?~Ve`CCq=+mN zud;7`5$^zhb2?qojRfLY&%c@3h^g+h%ISC`)cPEzHj7dh=o}IrZQK_13uh?Cjw+CV z@$c*vSDEm?IAg5uQBn!?w$&%Lj@x#wEJcHjXV0#*XBTKN^1SVziy_O>Erf2A2<`Q> z!PTu4x9d~nFTsMM;0~6!19k~1sfcyWVr5g`MA|0i7{hdq+>tTM$pVWX$TKd^!W6N~ zGf{>u!A@UV`0B|AtJ0F+9K=|}&lcR`_n243LRrB3@sQBK4Cg&8!__?7_A`yjD>u2V zI+TpKLGlIWb?F`83r9~}%S=+#e6e0`Qu@ovm?yX7IxE1?z-l%zl8RG|9sP8lpVz+0 z4sY%NxdVEX^{vwKi>8zpdG;DR1FKMPd08}3N9tyqIu^!N&&<=CADcKEG>qr`aBsc+ z!`4g1v9L(9FiXL!Qf2qt)5K9@M$DNB3EN!P)<^-!JQZQn=tb@arf1I{-Geg5L#`;s zkZPlV{SnUgKbwDcqn80^Pv~tWm*2s-$!_C#xC-5%9k06-%$_A@50 z@($X+AhN(Tr0r@f#YEBvksO$I+B>8=SjESyO9*jO2yAZ3iIFgp1DQW1Tz4j61=akf zY^rwsMNK+E$o9L+z`t}tB<;!}5D810q$mxRt9bH^i`>r^-5tr0*~j!r>XEVg(GW`T zw{Jzd;C@wIfv-J3D z6&rlUK4pWR@H^sBovu)7c=+NOZklJrAoAuD`cDu)^4!hs!n&Ue89!JgYL)*K-XNnZ z;}Qt{(Q!!QiK8H@zvk2CQ5{S4=abX}%ky9hOuYU1-Zv9tb#O$Od+huxti%uV6w|kgh1Jtd4Rs>44*X?Et?AV=EB9YJ>Rn=9hp!t01(C6b#vAli z$yHvi7K2VXgeMw3W2 zV?sSq0pl0F81X+Q5d2pVjKLxne}Cq4ir53!o8Uz7ek0E1uZr|XY4Im=d9#tZiUm`h zbK8*6(w$66d5v+e4rVpW8*|-***=?zS-&fAr9t^`1KA@&$VS@IchiZeeD1?JAgdK? zb(?DaRe!b8sDQ%paROz(Lh*&K=q z?4zxUe1%0m_w%_HhD(wJt{7h%-vQjI!V<(TzU3dic=q&l`0f*C24-j1x6bzX3RCfL z{XtSajyr%e=5CiJc)Mv#nIwG+)I4HR=6wgyI%<><<(yr(T8N3ZUG;Mu+tEr079DSl z@++syje);_Linl%3ZlVJT=fn0r+Pne+1Cc5qOJV-B`a;HZZ7T-$V)@9-45-j(5k1ygIPEFRMw8HpC$&>1t zlFu*+0!axgZL@FrUeEH8c=$hYu|nRYB+nwBdcT6BUha9!C`QzkJ-YHUi=*P<5?!0Z~;!6l$A4SkyvVZ2xs}m3i?$~>i@pFX$ zBRN|C&je=MH|HS4E%XvKYG5-b0}T;H=&@i&WK@~7X4)GoIN4{VbhIogIL(1;mp?C} z3w280ZEhAtj&isYv~M3z&?GG+!QPw@#sZfCHA59+UXI`bUq>8s0rGU+*F`&G``=<) zT_ZnoX(1yT$6u@b>Sl^Rl44$TRdxDktRGOTZ8^I#O^s~%){8gbJl8x%p;2$=P)tw9pK2V$NM}LvTm>0+&Fs&nBnUYIyXA@Dn^Oe zztHp@6O-HZA2%>{rxceP(Q+4C*FW6X{#`qv$IzL-$?anvA6jJSCd zGdC^E_OjtT;|QPKH0FP%JD>0Nn`hnjn$w#I1k7Edba z9K8s4T7eqG?hFKG1;gg#arRy0SX>}G70b^>A#?kXZUt3b)Q9Son`in5MGD!VS+ert ztg^f#sMV7A`*`&adYcnMN~;fisHI83F`M&7NdA?CeaZ@9)24)Uw2Uezr&w9+D_a6e9>s?8v;64V3K#zt zzFi#7izl`JM?fw`z-CY>if2P-X4NuLGUw2XnLD=wp^G4gtq+%VYvR{h=~kI zh|VfEx@D{WDPPper?Z0H#%$jQ;V2V;+1W9Po9CfDdf7w|qXRpL`j?j)oJH>s7~+1p zEvkbv*91d*4o@pTt+?^!MAj$8W#wou0z$8qr>>D5Hdh&kv&qnpK}%(6Om!RM?dOZ0 zRqU0s&)Wy`^V^-DvczjgIC*kFt%(KvrVc0HWL6^i$QhR0tG(U#o%>zY6+Fi6+nju) z&l{$9R^kPP4UlufsKrmwKIE$;KEj{%c7xoy^XUaF`rvQhRtk=UAu0! zh_jcgBM*+u52J$An&@8wr;nEzBc-m{z~i*ME=m!O(Fd8iAW7{6oIr(i(wvytYhw6> zV9lznn#QneLcd2gQkq`uNTaWNn%QGEOeO^SRtox)w}^-vvZR zE{uNtUyROwc~ef{nj#LnZm0S=>r)@UrnC=rNyyrHLnWXqs!EF06mRN*zr1i)wsn-} z*Y&)bW%pBufTsnyX~8J|iM*^m`Ard9;NsG%_+hhkHJ_-9;oB*OEu&?BZX<~)7wTD{ z-68u4ul&Oe5FDhuE;!ro>p~y7iGR-Ql`LSb4f0D_zo~GQ@c}QI`5o!sXRBc zCq{T3#Z=ROgrI9EqwDqC6@{qZ&Mx6(P@bI{69MZWugS{M8aC!OjB2M&5PZ)(+$DPjzQ+nf)M48BQTKj=2-=f+V*+ApM#fl?JP1( zS+_{(%HzzoroY^LH{MvyS)8c~)3E&Mei_0H(*{_SWc-vL@(iI8^RE0On5N*ngJ-%}1c2b_eI zIx;_acz;jml?HXOE>)(uXGC%`DEFDV?vh?$>3OR4n-`Mw9FhF|4h7_R;n_7*HIehW zv(4PWs1>q&6Pz2RcDKkleVAd-9Y8u#j}6HA^~8N77)OYv=HY8UAj{MIu*di*vMpq} zZW6EQB^6`CEb_a}vyK{?^GtxZUzVEYZAgv;8Kbrg5$E7(tT~xs(~I^XjY?5#)i6|H zc>?|qWB2EN%olRZ5T={VmcU8AZT;1RXxyh3`om)n)7?&@TD`~Upo#QZ1zwSf`%xy+@Bz+v&C)X7e}svUHL9 zk@s85;|Qv)TyV) z{A$yV*@EGGG06OE`*{=ul*gPj zODy4yM1E&en@ir;qAeLe`0!jQ{Kpx-yX8ILF3E|9wTayWZWfCfc~`>`T&DZYg(>Lf z!+F892za6|N~M_Za>2Kt%17|kIhWG6*o(1Y6#-y)OvMku$v=5FMN9OHlX52b##45g zmfH@Wa30oXw$Rt?Rcbenqad;rsR~xyujaa31 zaZwcAsD;}*JCDXPrr=)YCCebh!f+yApn$VUDc^y?#vMSt-0ifmTu|vy*;o*?Ex_1+wh?bdt+J5IVO?yVeUPx1}n4chu`sEOqS7axogqSw}y!Wk~ z>ul~}ODL+6$yab1D^Z5Xow+^eE#DDKLO=G*PND)nitgm+3b}P|#6o)xo~17++G9>c z0>l)NqO&*}S-}^kRo%0buIH+cd(g}K(Q#xBFE@5>4Wqq^=PfSFRVlMaV@oi#Ly*g} zFVu{WRnphNdo{nVvzlUHRQRR*Ige}zZ!3snU^^EU=xq(OGQT9%1cyk-t2VIKuA4j5rdoqiz6LWJCAorW8=f821{fkYo+0VyrdmIeTk`%A&Y9S1C^K>J2ITJg| zV?9KV4Ls7ut$#jn>}+mkm*2tNmfN`lu$C-L%m;(SrQLz1V-Ed8x@HMtE@|_;0=(#U;oDheMN-JZ7lTj)jTrbMU3?p?j-jHTLEL^R>&cc z#A{{4RrZxg@T9M*$^tT3ORy&dR#up^J7b&ecH|(yRR4u*k=W4?G6m70pX?0LiCW)N zg!oQkS5HiHpHJtwRW&tvr|0Og9B4N8J4A6>G~=y;Y4ruMK$WyIjE`D~4TTt|v3oDD zHphIG158)%y(F*9JAkbwQ(*vcQ<806*+g5ICI3nF)YrUVgZ^JM!VNWj(n;jZW=~sl z2V=f=g3jNxka#fr-aAXu`HiAx=l;OF({Be??nXW(XOD1n`nAb(-M|S?XsmtaCrRl_ znG?xqP(dmy=m4x}Nu7vyl8m+IcYq(2^5rz?Q&nO9*Bb%RlT2&pd?sbok#UYc;^SS$ zMrUBq9+8*J&d+d_#W~s|E{J)6Mm7D**VaPGiP>@LG%Fku^=Efy%{_C)W zw&2Rqz^i&r&qUeG^0lkY9HIWmj?B%GJwEX{Y9Sn71S-FN4x$ zxK&E&sDT*#W3^7MHd&$jcNGvoaONc<;n`uq@8MXov8(AbRuk?Yn}ri`O2^2dV!aGP zzS*llSIr*jd>!)0)Q2E^%BvW)* z-{3DzU1xFc1S3}DsK(;4_UlPK7Xx^I_0fo!!#>?J`TQ_eIWMdjFD50iQly*XO>jl@LEo*5;oNwCnUk9rg}V|4#%o;1qL z4bCgd8dfA2(n!K^wTSys;u%0hJYC8h9x>_c1!Z0yp@gc&E!^D_gI~FrFmMB`CO^2HOMnCW7-5C ztkf$^MNNJl0|~zDmxLGpt3P?s z&jwhc0jK*h^&`(NhUNG-ece8n+cF$}jiQW6dill@^xogb9Sda=_23T%2?_Zr-1r1U z;d~W5-v!S6M>2p{w9IXVb5@yR(O)$jRonwS+446M0Yt`x0);$sk9!QpbKM z9`xL(UbO{&we3gLIfgCf*4t`>RXOvlbS!0a&#T;037SRAohU6w9t4TWJ>=i>!8i{1 z(~ar!@aoa+`Y#ckll(lwEN6Fe7f;_1p)(FL2GLtkw4Ob72cv%gz&m;H}-`+e(G zG@Ds9%uQ=2lqVnacsX8c>H%%sI7-rtRRe@+yxv6E(;{uCg}R6Z_NPbAI`U6B7SYWj zCd>T2<@>7n5shNjqrn*Lhl!Pgv$cddc})I}a_4F?cK`~`Q5nc`n%GC8)woAH>BT?B{yfZIJgWXWj8JWj==}t-Kw+~S zi+XKjp*)*LPw;@HMQ*q1aNRwP%U4dA*R3pW17y@f2>?Z7v`HaiRd>~&;YR#KJZ5R! zPtq<}JX}+OpkoUd2tO0*OwfBjTwm1|G&gZTz=>(m`Fu?UEHBw$TVjD7!!Rr&;pC^~cpZFqPK{Q}H+IZg% zW%@e=oK|l+BfeHvyNL2f;16QIV00Q2_qS%XE3kTg59VWOWyB6^`z;vNHJ1Yqhg2B@ znp#d#MmS%~npgDCM&sYt##>I>4~V+Q4$W5YI48g`2sC6jEX8x;n=GJ4o6;YR>Qf9i zlQ)(zCv~u!PyH0HYYRAZjm0>QO|UlXIm=*ba~6G-^_0rvNp$d03H@&1qHlZbTa)GB z<|sz@Pt^_(7Wyse91ulZ0m`SndetC8rf$%qz->|(nBM*iii_q;fnd3E+CzV>M$_%f zGrRlWsQ7pEf4tc+YL4kCtofyeIT0y&YQRMsFhxPe_*=TIQ_;;NZz%;h4lV0;?c6L( za*kE}GR|2RXaghC5YR>PFUoaDh4c9gV&^z7O?%Rz%P6ThO<=vc>^pAm0(Cv!8cV-~ z^FW%N}PNOk2-$6ZiZTohj^gLUtd&z~VbO;kTnU^T^fj>AUjZhsd3f;)09uhY$yE?JFR zrsIWCF)a%p-6@bk>#f%~{Y7qdrnIGJmD{x3;Q(?}Pf| z_aC?ayRGKm`}n^P{O`U}!(xA{iJizyc=b$}x;mfF!S}4Pgv_#SIS<7rW+&$vbu3zU z0E>gCn<4M=Elwnfv-&tneUwf#)nN&5(KE2T#C;CdfR2dy)R3YydT#f<+(u0=f!XK3 z6sb%txZ-FUoFjAR47yiw9_We64oGY)(~PXW$;66&{~kNct~8;BW#szTFeqfkk^j`L z=Yy>mf0JeT=N$`(Gr&=vHWsJf>SbWoC1737@K~`ZMe%k2>wwJ4p2x)o>ITPff@^{w zu^odhY;#BTX~Wa`psQ2OqcT69Zuh8M!#(1*oo2;lh|mVDg3MYw&QCo(tjMz!*N*}g zbUsLL&=w4h8;J1btdkxuOMwgW)Z4vaJrf5b^`;e-1xK{vB`mY7k^ezyd=`yqQ&FyDMm;4zH$|BCSS-lI9bXvJcw`JO2mS+Cr-^s5RTH~k*%Px|8(jOsWmo+T zx~?f&I!7iliL$n)R(UNc<1|XYS9XcYlM!<1>XiYtQ)T;VJm1iNangB$D#nr+?B_fE z%?6;eoo4s?Ynf{B>q-BlU7WHb9Rdr8tYUD=O%n{oIUZVZXr@ds~_HAl`n1Q>uWJkS=1l!J%+qk~oSCXJi2 z@iPluptI4PL|Q&~j^I3Kj^KW|X?%zY6(c&j=(YSno7UeUoy3U|@7yMzJ?FN>XpYj5l`gtxhW{2SzOiSJjR#{N`B87Xcap^LqlI^yKhXBrtpGg}z z*7a&?QzJ%4y_|n4O4p>xVxkc(vGr&ILhOM{$dKr*aDf1K?bW!Bvbs}n^30#Y70f~) zv;D=pvuelnocoUJH!5j+kEPU%yxpkF>W0UIU6ag^f}@X7y;FX%H5=ZzVuM_PX{=YV z1CtTyw4ELir*j@m#pIJj(2_>E;}eEdE3R1d>)iZUXdM+of%BwNuIjlh+6Gh)T|h2( zis2Bp1#iBmh*BK71L%rBvvH?xZ-a9SdJWP&F)b@gQt>=jg><^yM&mw0u>_U<1+2+uPWRQI&ecc!sa&SP}c zae0owHchKKXA4YD$I#KWCTOdefrjO01=(W(3z~@sp701PWZ;_iZiJ_g{Vm&gFmsZT z6QfnfI?p;+JY}=eEc#ax{GFU+kRAR&KkYV+>U3T0m{gE`nV@rDwVYZBm3M$cJ<54D zf{o&li!E)b_JX*lG@itksFAOpbs{qEC`FJE;rAxiurXx%Wn#fxC4CsQSC_VOcB8p!U@V0 z(N@g9bO*y^Cz69&3Xw`gw;;t&Yn2y-L2^^W2hVY475Nm&NAT@|+XAcKI|akfUVUQJ zmdv|OuQ8kQDV=V%-V*z7XFN$=yGqaK|DhWZV7jEFaWBtVXHBgQP7*P+d7Tj-@1!}K zd+Ld1r|*)Wejt`41qk8$TrX#;`uzFuLxY9-Nlw{@=}osawaq?}YzzDIZf(XNSEZsv z1J1Mn*3eTQ53GnZ!5J0aB=vkv9UnxXT^?I0k|lWDJ--YL7kQvRs)jLz#6-n*uF5eT zJI&Ewr0ymvxn6k`ZA|e0oS`GEy8;I;;CqEo;XS5r{q4`Iz{&haU#|6`(!UQ@|8Y3) zAM_WP>fMV}ERC~~LM~=q$3m4^>b1HE{7dAH8;c_H4!{&Op!H)vrq8;^o4;zPkH-H~ z-K7519|c#aB_(sh+L(_@8>k*o{h}s7p=9eC$KW<|3wZw8zny(=4^e)>`3!IKAB^b# z?M$PxSm&0_LRm`Y90(9C^Mwy}o$_CWczJ>OvE9}{^0gf)FgS&AO97r6sq zOxytqyl4Cg7%M+qUF{U#D$2vH|9>-3>VtkFAaECVsz7i|S+>xYN^i%*x9LLQxl=Us zNl_6>i^+fXCxhk69E1}+o;?=56X=pvhOevdUFbMFP(M8P>0Ep0{e38*ijbWL?)lkj z$eEhXrT-&NVLnfb>VEAVU|mX7{k^Des8OBr*IxXh{ENESM%W#I{3rUj5I^U#Sg{y+ z&}gt-V{e23d7N9@PG{~SQ5h9BXE@~JGDUbrEL~y!x0p6uw#uE*aab5Q>(R*_A3a9g zGO5u{n(K;S4dJ@&4-GcPnv zITJRu{?QMADM2@Ca24ZPk*Mw@qG(b=Dv834L-L!VG~ib7H8S84{!1Au5w%LYhh8jt z^A_>*tX0*Gh%Jkvxv9-mRG!{rT=2uxHYxf!!EL|_+tB}J56tvYH!rHn_vyixA*K0$ zTCXU|o112um#f2c>>lX*OCN-M713fj=I{Q*-GPU~RL1hqzejRoV)@df_z zjA2cjbMU#mK31V0(y{R*?G30iIG8dz$pZ3g)?DjE5B~8^jz9m3eMR>8-#-%Q9`w|CklRNIJ7(e75hE+mi`)&Kcn{d_PsV-NBW_-Uh*2b{z0<+=2~e=^`QF`&D_xUH%h9T^q5}sf>RUb|=B976baOqTHUF*KMuh&J{(@!aVc5r_tU^B- zPGx#ESA0v7?h58g`=A+|mM`S9INe1RyXhd|hw>jU);U0B1(CRVfW>F4Q!_1?`qG|N zrT~=voM>72gIhhyRrX*(;S;w5ul=A?331d#@4HzMc>cZAQ>1pW!Z0ExzBD3jnC_Vh zr^U>!7zAwbn^=ANonc$%&il@WZcg(cmVB`Dc3f!g?2cuM>>a?=SxWT4;f%Kb&yfT5 ztRE`FaX~?CvNj#XM?ZVfVsu!fD3EByH+>V_>I663=07<((3E-pp7?7&mnZfP3k2W@ zVFZ-m6w>P#4s-HFuGv|Vp%))I?@3*o0;yY+#PNJO^j# z_4(U|{>%$g&%wdO8cA!KF`EdPR3igD4#7tP>T091&vG-r^(D<4a_qi6rb{tA`t9Nx zic+y!v&ds#Q}^(3zqWPo()yvHNLuGNFiaDS2Y@6F&Uth?`mldJz}&pKVF7YJw}QU1 zYq&p$)ixFH#s7xu+4capabnxq=y2grg3k51Hs+YoA6T?(@~62C#SJtKdBO!*`nVF# zSxFSN9UEFLbB+WqV`}<7M=@daeiC&Qb}$q?2cDUv${be}4OH53_8j;JqBZFtDfX`z ztmG2jdK~mEtiEZFT<*l75{)yIo`vC$%0wB%F&R6ZUNuZCxke^Z=hW0~@wfIl+XKJ& zo5h9FMb*#oJy=?QcoWZO*Bsi>?5~mWTY}krk<*&V%e7Xut4>$4>ZNrW%|DbF2jss0<&y4eWw(2^TQ7z@hmDn$z5cq9LL=^ zM^7{A8V`5}(@SgU*;;|wZJ>nYJHRmIS%PGLdFh)zi)h(Jp;p>vIQH%O)15iE!J{L* zB(0Sbnsi7y3+0lC--O)c_k!M6H^?5v3qe!q>;5ayW|>c$%Gns<(uwSikwy2?;cdhv z?QUe~=w372>(+Q1%qBo`FvmX=fc!U$H+KCh#cIrAnR3j8Q#HEEw{s_U^s z90Jp$-@qgcKY0?lB18E5ahjr$^L6Vj+hqe>{Lo?<`#fL~RDW_zk&eKW%XKv`fQtY? zws`vRljy0G&&%TCw%OmmstjCcjQGdpG^BrO;rNjU1ir!26$Ib~ew-1K6KLJFPi~LG z47E3=U3J)_xH0Lg*338HKf`Grw@CDY>Dvjv+7LQ&?P1<`Pz-2*vo{7~d^By@F zO05nJ%B$GO<8^BO4oO%vCK5q+Mm0*%7Oa0)-DB}8NYP{BSEb^Owk_%;_H<4#9 zVg>@Wad+=LZX~~OO4~D{=e1-8wRs_3#5>JucO~qe*)@kvgqS+S5?Gyqq>v98o=wVc z+UYciI&wq(afZO%;hwvauVutN?t#E;;vK*#f9DA6#U zehR8%3;#tW^Nz{FD_U6ei!#f$Aj>vjyPl|Fw^mltBvRS2Y0kDp_mLNHH9NP!*IDG_ z9DRM8JUY%2)8gtq+3h3bD--soP+=2%r2K>!StqEe6D(cRQm|0u2b$WaJsD^NcRErl z!kZwYN_NIGwwN;>&vRT{L(a1U(%s8_C5y|(5*wi3KRjx)Db2eNzUEP15JCkH76u)~ zQl{}{$M&zNY)Tqw$2apzCN142dldQ0>K>;Gy{^-1Sgi>{SnoLg<`3~V*i{Apv~B1t z^^@2975h@m80hKWaJEuamj@w`|nAx#JyLt7n zKAXZ^y9}neeN^88rt4|iIuo|8tap%eKbV55S4#`=k=-g1x@4j;A$#tXMl?k&wu_3g zj)yzlt8I&f+Mf5gB;`v+DBFIK#kjqAadiiXrf7Np_!cK{#tluC-MJmpONmH~iHQ5K zL4QvK-NzwTAD9LI6OL{%}@$(YhH^R zWMn)4b;+C462xDGq3Ie^uZ_w#Jz5k0MtjRHh-poP3cgD1o+|honD~!RKHz^`h2mLs zpFC_$zSk6X>(RqtY%6J0k(4p;wm24W`y2%0w&~OT$0BV0I&*HRLcBkD?4eAd@T{rT zYW2u7>domM;*LuF*vs6cK6@yS zGvTvz3LIQ^6(7Ep(zJLpN}#It1R)cpW@Jp;TBVA61ihcmw8Ghkl-aHff&2B{u?E-! z3z2<$#pIzypPLtvA$I_@)KA+GEd-}SeN(?85UIa=Fj`k6zd{&G(xOi^g4tXgQY=?A zH$O^TeI*GUl#G&Ok6!8YtC^hy-Lgv`_m8?e2G1Re^rrgJ57@1?V{?qP_H%s8ZNCl* zF<)w{VBNedfRDEyp6QlN>R%KV??jI{W!Lm`fWOqn)YNA?V>%fd|B-9$V*RI%XRyAc zUd+6R_#js;%WoNz(&+C%@Cl*Qwhw!KCZn@~!q2#R!t?$bLN! zzrM*~-OyJ|+~0-f(VTspan;Jq^VX;{R_6-i4=>AeC0;a2Y!(J$BoW9iu}Kc;8A`PM z#%S72hiFDzeG)^RF{CAT_sXoIqi0Q#Gh2maI+wwR!DW%wy%a%yHTE;|%uas9tvGM~ z$!7OogtUM8;S`itn*ypgFC^8`W0wm%>F##`7n2V+EQ8$Xh%4^Yl?$Jp=EhFH)1A6h z`Tv-*_f-ZYd~#c*+W&I>4iKl!wwSRNuAES|HA4QXFeBC$R7*)|q&YS6UOhn>*R@GH zWw<6F`O|sExIYg1h*i7!7a!who~CqBs^7>B#%OuYiB!cL2oAg8Lr7X$8J^(*<`6>0 z((<;uhKCb19)W)hhwP%-;>whma}21wq>}W(lbBv)XMv z>f0Yaz5h;$>W?48nosDJ9rFYACk|Z0xM+HgoKjqp_RB~3KqmV|s z{=!qGiLzIaF|}^F?ckRUd7*NNo8m3#()uQ=k8*EsnM6pl=wHvi;Ycg;HF!~7muH7$ z+u>C{t}c(+b0~>@fuv6GQjdFM-JXHjnh}aUep^eFefjx*4@g6)+rf<(X*sJ;-r|WT zP~lp*BJR^W5)A+R5BAC`+H*Z<_jF?4MbOpxVI+|fY|U99+VS;VyD5vr=W4yuWgqY{vR z%Hh_82e6yAVabhF+ir%cw;x^lVs(sjGKwl)dV-D=^fCqTiy3T-D;xLiyRu(1rIH^z zJ^H%t|9=05A4q>6m|f4kNWVpu6gn&7^MT#a_4iaZ;D0En-5N zNSqG+`($9+s|!$$V|oero5)H$QFTgZ{47Bnbe+ftW{Dcc))eh6?ZL-ijaCz} zY;GNZ=@a+16hw{~7P%rzXt2G5bvQ3(sRcO)vTEBsf^k{kPpg$^8q#~s7Jrx!v0&iO z?bbg{KWu2{^vKbj*5ev^pG{-RZXemsI8Xh<#N{`1-So0YZ1RcE?$G@C9q{mA=i%sQ z|BPG{Tvy2cN4U zXKj=JnQvniD7x@33@nCiXgfw51J*cru zEPbk#A+O)AW>-CXnQ9v6pQ^2;*|7v+I{e7M47i`k9Jvkty|1;4qgz#|AsuhSy3-Ws zNW)qUcQDIvr}sm)QBmFg$+|0u$U?E%+}9=;eBZv?*avcRQBX0S+c1~TM_4D6bDq!D za1O1S%rlnlYaNw!a{7b7fEKj&Ol@57&Fx;s_u~1z{Xv0*H+ii1Vb7^K5HT-J=Ci#c~6AK(p zQF)u%?dfCC76}%-cPmQNZ<}-I`OpxTn`ps1GVECJ>wC3vdNOy4?@zqAqZ%O^tOck0MPdxlr?De2hM(}T0Qr~CoAWk+$yRZ z$oZZY6^cQu61`8Ny73`>f4jS+j(5ut73qyh%;bD-WPUO*IXM80NV@#GNq%Q~2EBRF z++bQ=`0aDZpYrgvH(4hpWRCo5&(G&#JTS|qqiU~;I7;60rE<=g>O;5#6N_$CMj{zb zAJ@zhuToA=PgeadvYO^4^uxdY?}LX;WaBTUgmvE(yjdy8jduBXnS@|Bzz;P-sN%0v|4CRbG?{8>g8t z781I+iKz1k^DKs|7i2T}KGb&-*7`AG`sA5!(#=x!IGij){Nkq;?B3oAGT3I)7sxJq z#;0yIqB9hYSes4a-yLxMiMy_|rr-Y|!fGqKCV+`@WUk3L-6?I98MVXL&J#`JYcEU$ zU|GD9bNL-^{l$9mtPXdreg484%icewGOddkbm+ktz!5l{%fHdsWKx{{!Yvu6K$rJX zAy!0}mxJins{@|O2j>}Jh4`zq57i5<*Hv>TaGkKWpN)t|ESx8DY&Gs5PY-r$cC|!k zU0pt$$mQ{;!{+U5fCI7P z4|R>|z`{~bp(ABUYS~ME?Q4b#$66(U$pK8AH=>z%0}oFx^+mfITpX_Z#d_|nr*)Gd zcW;T10Ry$M*4tvug@vzoW_Z0Q-!rH90U~f2fj}IxF&$JV9i{Hu91m#k37Tt z^Spy`Xs0}wyg~F-NcLJf+Ri60c5}$;jOP6V2u3n3`XnR&PUxs1v^+RX6v>8zexlh; zTWgQISQierxW#E1T-%S6R(P7u;{B-~QsM&#u>UD22u?<{}p@WkJZ!mS+<9 zfJr)uAi2{_o{stN5!M4fUw5;EBO|87d;4L_So(+tn-FL5hz z8$F{K2;NtrQEVfRG*}O-1@<0nOW}UMNj(&1@eq9=X()U2z8^k+PJr~pzAkMQSzuB0O=7Hc_hpqmyzU? zpQ!SsjIlN$XS6qU)g-7Q#MSQI*tkCGt$^W@i0t-amp~LE01iTRbt34x%$FaS?+RCh zT+G}_eE|oLLcgx&lWh1htF$JaEv~h@m1Q&yi=}1c@yeHwrKfmqd9y`7th(656q3wd zxUWZ3;0|hoY2y6&Qt7nDJSr@X&U2?1C`kwAMRY1A@KQeSsR5ckt`G&>}?|(n;Em6L$jPKQd z%pNp0^LD(Xpdjvb3P(H5v8~KnOzG`k7*9S57X@sjGBj!khYxzaI*J%3^DaKXR0J3P zi9*yQ37onpWJV=L%EF+I(@8!%LE@Pc4n%v+?`yi(Mi-B8(f>4fvZXwsa@^A&TS1;z zUNf#4`!LTEr_DHrRB>slfon{El}+li)y-}E;AiV$wl*eYMQ=QS0uoMKG?Q%jMV1a3^~`uIc{Cu zIY;wmReA*?eFfjmz-uNs-@gwzTJPz@co5eV{xJJuwwy&`1Kw?XH8gdYY14x3@0{{s z`OA`f#f^9<&#?y2QAZoH?L8_$Zsy>iYz7;-Ls3w~y&V{xGBf#URxeh=2h0f%W>(Wv z9qd_Sc9^hVZV_ECV$FIiJ7c57d89cas?y6;E_UGB!EWgoj(2P$gGBZnLof%;qTh?B z9+OAZc>Cw!OY^Ht`D$w%PH73J9wiy-Z@*fxAiw^IpG-L>;bNQ<8dzCt&y4A`QzXuL z7&uZ82Ol;q9W?+`NxqqXQ|@8!JosUQ5Q?KhDyER2uh;XQ{~7imr|5|GbA5)DU$kTR z%H?R>2Teu)19hdHR1D{gg&3Ap<}Vs{OB>0hfbw=ISL^J;YNe(g`@ZHFWB(Tb&6UR8 zzL$9a!KvFBV8FN2?ewEvQ&N}GOTF}BI^gJmkwD{Ok$mK+l_I%kcuJJ~vRQa(PkEK| z4NHjLfu`ZW!W@KYMaA%L@$d?w&Mh?R#jJjMmms4SHo9=+z8d~Im%TmtC4mFEP{d*q z{UjQ5c4@ipV7_pIL<*qtT|k+?;0CSSVO#K!q(4b5}o1$wt&h={g$+FbygcI#)T zQ%24McL^qS--n6*&Ly`I&)h%K+hOM%{rowoZsk?C5({{R_JV|ezh{4^CWEo-bXVmq zwaRx;*;~-h^F5y_s=)AQ`9vE6MJ}$@4f#!xuz3io+oY5RIR}!^6n#O3#4fwRX zDOnE~51TivpfyG?l2$)=uO9DJP(K$K5&yaRss#gob_D~2gu)zo0KC>izKETmBn!0l z?rI`c(KXUE5S6MTAmXxOLcg`|xaZK@UUaJ`#U?BO(fRFGeXsVqAgeJOS6p9%_f*4^ zYb$HpKgdSEbQf^$=8fbR{pFT*n7rK;cX@rWav===vMH$ds!`(xAhBqSZ^$xj&yQL= zr#V>k2>ijbhp)nu!qt^mwkOjr5k6xbw6s+;!vD&l^vTfNuE?GMti~n6S5`bcI`$WlrMkzAlb%dS`{dJQ`+8OD zNx+4uoJ(xXMECv#pP}t6J_wo$j4EYAnpgY_b0ANiqAzic$*KY?zG_MQ`PXM)0BmDZxJSaqN=;NwrUo=X))k_~g@t{z@|{quEETypc8 zSfbg=A^)Cf_NHI}p1PhkIa3r(5s`T`S&gE!^&>Lz(vv;kLlNF_GoqMk`J7SoK8n)`B;l^kn-miS9tG&@`#dc{tN5 z%f8#0Wg5?31@*zFC6q#h|N|`6vg7_m0-5;kYJZ8YRAtlUIY+S%?q`N1_u=5ktOV zk#Ko^A3ZTlDKvOtROVHl3oZZ5*pT5Px^q{s3C-PCsRo4Dz?uDJUqjqq7@qy;;S1B~ zRc%iF=J|>!7NUiK8uNIo$sZ~Oi7e$G*{#atbs?$M;D+v7uWHC#BHeJVmFUGDogh#0 z`_918_i?>8f2uns0~ua2(%uEm)h!f@HtNg0W}JM3lu0-DqJP_kR6f|5()OV7(SrKk zP1GJ4{@h}G8~?J0tpJ*rQzP@zN}S7nKI;CpI+#Rye)A)@u!MK@X1$)K>g+D>ULlwz z6f9LH`igkgTXa{uD-(srQ?xep+%E@8dKz+)yh1 zlN?QD^j7c6iiGLnvvJRfBC5tORMK33wp~v^?-lIYszy}prh;l5+CGi&bDgcV*E+J5 zu>?KY&j?C+a&~976Wys2y7pe$YW(`Cv5hrd#ml;?%!Smn{b^?}pQ8CFgv3i-Ga!FD`l9^oVwX(hr96wR>mL1qV*62LesPqj)NRjwliG&iqW|cF zB2mje$2{teABEj}gxS1$4O`*((hshwrwL$xlN+{P8B>N%k8Rjy4OX3cHifIxZMPpj zbb6Ucyi*`^^81~tDc}3i2^Bra&n8m|D_eS;0?=sPe1!65?Nd$H@5PZj{B-03t_cFH zh1Co zrnpLBtI1=nelNan44532=(|S!3p%oFtZD@n=HLYo)K<4kFfE zOml*J)4eaj0dlV>L@;F5==;660lHj2LH6dz*(|q=5}%JBpi(L&IR(Bv(_V4wqYfnA z&~1pkt%a&`#&Q%%>yueaF`b#?z=|*Do)|Q*VIOI*BQz-dn#j&hC+n$$XJ>!pz244r zMQSJ?_Nvnvsm-ca<2c>S6$TgG&~TGn~ktL`KT2ZuCWuA#yb7$o}l>K!3X zO48wt9Lq+}OJ&Vb(JmtO)kG|^FtoI2*N5kRS2#71PPc>j%I2UqNz2J7mu_1uf_XUH z!sF=C375r^k9TZn#?#xep=>v8DHLv-%iMZk9F@rAh_r@TCf7b{e0cqNBTj*Q!nO9Q zLhj{*{->frra$qs%mP=?tJTEdYbSDh=hr*45}&2{KMgb<|Y3#{+;)|MgUUu{?vgZJHQm*StdHVyk`K;te*5w(NF2`wWs^I2~fo#w{z zOoJ`l?>(%{r>L9eoH_L7b!O)@_1#n{Fz_B7MWfD{SC5{Cy6Lr*7@ZErlJROi6g5@ zL;uFDE#GkC-8|<31vUTq#hUx0=u(GyzQV{oZx|GxT>8g$YVopXuQ7NRw|BpeuQKo? zZc&wfOCfN%ykb{oznN?au&3+%uWWEE#nzP1!&eSo0{(rV;dGrJ_|5@wo9*$(4?~WN zG!myHGT)(%O|?jeTboA>#TJ}|j_&UNa{$jAV9!6K=GK;Q6j>Nw2F6HEa@~EnX=dAy)QlqIxQNQ>aYr)1(}}EUgL;BN5@sJu4btd1C)_ z*;ZWQn(mO?+o+ksU*Y))pB_bjuC;v``s@*GVWTWPQb^GLBf9cH(ZJg}M~g}cA`~>X zxW)a#mAFnp#Umq}X{}mzl|@*H#s2n>CHUT#RU2v;?>RB`!@6uBJBYVoc00?i?QQnu z6BY;htzTD2y9>XI2aC9AghO!okiREW_SOwiz1X&qg4f_dc<4OGHsvw_=?9+|hw&II zBb!2<9lW)1=+PF&98jX(1Msh>l;1JbN%XBHOQ6BoIdb7v#G)?ItMsHKK8XXRC5n zLty}ul8oACv$mP0R(AF$)Og{lEmU<+iV2NH1mh_I4%;O~D86d%4&7WAgn9HwomqUo zTWa#EwRr6MHv@J=Eb)Y0H>tApoY%27<6Oo0x%=KG{nr)zJ9ZM-Ow1zX&&z=w8>vgB4G+!G&XwHK zP0t0A_)R3?w%>Ra{ZSk?ua79R&5bG*@t7tYta%b#B@F@jicZg*9z6lMb6|L8_rW|(VvYK9H9I#Uc+L&X zOyv^HOsVVkxtZa>XzD4s=LvX>&r7*3pXe=6(ox$|C|_Us_MG7m-=vjKnDUWd+W5p| z=B)$r^H^*J+ds?;*s0U?%%RTa!}hLlQpNmSV1~ck5_2d*<4nNm{`DFD86baVJL24I zcw+Xa{Q%I^z=G5@hTN&)H#Afjz*$|q>{#IM?;p)Jtfu*yG5ocu6&Gybf`oeH5lc+z zBh4uzdJ3vn=D8H2GNZHZ=n5ltvw{ZG&lB&dbTv-;=>2ukS>K#>or3IQ56&)YN4O@?R1qt#tBPn0}vbBLSFM=2k19SZIU37 z>%%A*r>Q{V55LMgjTg+oH11MzGy970{@TJVC7?G?tLS5h_l%eSyUs z>(aA+a-3LXQ4K>|-&$|tcoBY<+3l&Lx4u{&pVGO|w?BTa2WkAzAgFDt*7w+n(>`NfxFYT;CSP!rP2JxDs zHb>@_EBtF#g0dP%T|caBWIh$mghSa=se)nEIwjgxtPJV zrhmml0{mv=PJRc-o|n;f)Ss&73cKy=EA@TyJf(L&CpR+i9U`Qf+mVa$Yu#QAw*-pN zP`Gx0wYauEV>pNZX8>2cRZ_(c%QRrdx)+NIUzQ8fAv5(@g3Hvv^V%c(vMFZ8RcDC7 zG^4xF)s8SYJeaWyjqwC6R^l=34EyO40euEbFDT+Vlxx(U`&}^3DfOpf0)Z%sd&;cY zL4v#BLEAzL@W-;JLkJclK8w&++zG>JLloZc8ro`0Fy;l1dj1ZETM89FDRO|DV&0QA8t8pPZJ%jBPPOH`N2>Sj1W567!VGHjj4uW0Lb~Qi>%_v>OOD@8 zsb5zYQS3_%+m`T_D(aCjCu6-650PxhhhTRS?GvH~?Kii}Sadz5ao(Z+@vc+3gj<+0JfWvykqaeEt~_lIpDh7sUfWt!V%*yIT-p#$Mi# zqFtpf+#=xs{0EQGW~`e~r{^jhLEwcJA*q9e=^F2$eY$T^rRH&p#R(d^_NM|?vWqEX zlB^7AKLM|$;ifu+W69%2x=P9)r!~bSo_EjmS3iLE2Up}ly<1KpuH9Q4MQ-|GV%x6F zet%&wK+=}1CBRk%6|$Z@Q-cm>e3X+EFmSOd{an$+eXH!o^BR6R9tZfNv*RoJ?izD$ z$Ac&O3-#X*`p$e7&5N)c0|y;aSE=YOP{(r0!1g1RyelYSVF=z$&sj5~6L?j6aJlyH zYpU|MYzNGf_XlJQ8|}@jG5@xXwCE{KYlzUhY0&UZBKiv>T;<^Y=m{O&WOYxtyee;T%`ofW{?-25y!d_tKPbhWx)GGooAgl_gN*OdzS8d zllyl{2s9Lpo&yis9C}X-3csH+;j7+PsFHfnn{g#SrM@3T%^`b^+XUt@di6Jb#-Epu zIBmu&y{q#cu&4#wvpQyDrm$2xWW~K(uI2LoNc#xK`yPOPOwf(r{<^e4^-uOK%kT_x zT+nXY;Nc`QJUYD1iizYZ?~R^47WA3}yYfkb`*jYyn`3ioZ+i!Vh z|BRMZ$_Oh1@HFie zDd@9`I^|CPFU5E7Ww6oPyR>bJO_$IZWg)&2nxL-(JB=?#tvzpdI?rEXr25-tA})zLs=7X|v+dnVJAy>=-U@J^w0-hp|+%nINKF<~|>Jp~zo zZfW@xF#qH|R7nN)8LAy42WGaS{!20)h)@-mOh+0o)-{;jqJO=s#D+FSf7SEsL7DS@ zX@gD70kCtR((_eskpada50_6z71I!!Ze|62QHiI^*ThGx6=(Fb1k3_v{G7^6gWp=I zz;vi0Yp5V1jZ1YB@yoJoE{3>4XYgQxL5`A5vsUpu6duT~u=XI}>rG_kFJl%@X+kZIx95{lTvlnj{# z@X2=kw}ya8==cawo9#5{DZ4#}Cx9h2)y#^Lp-y&1&suO7M<^{1Y6??^GZuWF&*l*Q zc6~4w6IRxKt6ZKjtV+ko?ILt_*c?%yw>~i4b)U@!-TR0V)wfFDd7fi8g&X`pn-*n! z(8IqB=PM(9OMi6zd)QRR;6@vxam56D6n{pMj3Q}Wo#3=? zb)wFrqZ7Tpk+x6O3Y+g)PYH!J%B=BqTt`SzJT!lZ#i?8Ug`og?AU^(_gYq~@^ljVW zm?&-4QQr9*fXaoGH|5WH!u%`9 z=2Wb{y7=+Awrt)-$Copuc=ym{^1jELk{1ez9faNW)qexr+$xfKjJX@{f`ey`%pyn?#NG^yVCZ)Kd`K@Z!}I~ zLoa`hxdnA7j*3c)&ADTCIxpTW(*P*|hgAGPH+I{jxubnPa!cD(0W2-j*KYtw_t ziK*K%zB1mA0Q~fcQSr>=_jUUYH&d#TGW|@NYS0h&x;-Knk;z*7-b_^SW7%GupVPJJ zd!8!wAIK*}a;S10f1ZVk$wKYzzoQw6`?~8EBgr^_(G6SWQ|Z}{6UgTzpLUk_@(Ha0 z8G!po)39Qk&@=^I)2%}GYjD={x#<@rSVXQxgKMu)%3>+_=f(;cz~$bXOD`<`Z!YKOsInh0n)QbH-3-xaO~sgIQKl25Z=Iv-UanP{GBPtoEs{dAGS5av5LFX(LK`G8%_Q>gy zxH&@2F8H$2n{b^_f)9X@AV&pLM~3+2o$8$_QQ1-a2<7WPvdaj|PWv*_lXbb*e_;$h z@o*QnZF0)JF3XJzZRc(@x6tDgHB)Y!>esn!NbHA%_H2?1T(h8QN=2I_K=40lPqb^@ zfUyED9m`cx5tZ7i`}fhsiT{O+mW2bFFG)V)@0VbU-F$ynn!Z?FW1n zUzw7uYV1wqrXo3E_(Sg?T7kd=T>3tM@we$*Z!A+|4grQ!xH10RoUunK1!b=~mB;1S z9dKNQFg&-oQu8!47w&JASpq2r&J*)2NonW)h_Wj zbd%Hpoh$U2iLGse5;4!8jP#AD;L$Vbwt3hnJT(76 z&UVG9GVEtKp9)N7DXI}b=`Aw`K6)DOy3x$qaZIhhN}UM@C4b6~JG|~fCYofrurrf1 z8O~uRDuOQ%&z8j4eJ^KsnCfgSQjL#s7@x*Hx8>@VR}qSqk4} z?Q9)0QJ!6U%RHVr)OUk5aK@57V^v{R_P2hH06(HfU4N3u>GfA=>^7>Ngj;b{uQp0r z8-xgT+30eTbzvuN2VBWXt74p3ukG=}Xk||^!jc7S;mWNVILI_z?S)7;4z?ua@9k`3 z)Jd6jv)q{hS$+*a%(*P~19LluSX-Q+3?4xtlJ@u#*Q=vVzqjAW2*i(#80NT`Qr;cy zW!B=+H4WI=L&j1UO6!*Fv2V^Lnxe=PCx=QaADq;|b~E;1yYN*dgikk^{?4{g{ACYXrV_nl^V6Ma%Io~gg=^+u9OYhvtRUMC2o(I_IEibgGWsr*qR)U zb~*rJ(lS3u!SUR10cJcg! zv2PGvSJi+tkDR_xp*6aG1(_w`e(wwVF=`5A3yo(_>H;6J-%TjsPT6vVIFcqBus>)0 zBtsO#Hcit$yMFEKEcBbA9EJO(cwiQ=~!b4k!_xJuZxKzr)87=)gv5Bzm=Q@=F*i-Y$`YwQOYwq(+`>oKy zRlW~5u){u7+H(Y9zwEp{(Nd&KrG%V;y1SPRn`~8VA|!2GbEDqffF+jJ`2EA&AuI0t z(6CI)cf53)#u!deCi>N1>KRSF589su6Jqb`^7zA82)etEu8u^Uo_R|K)zn(OkPxeX zHnuju#?&25N&8jf{XP5j>dtQi=!>YN1bd*+=HmFeEEJRigmYPo_u zgJ99O{2a}?uCbg5^^UFN28((bKSjV62qMM*!l=txI*6E-!1(Y@>Z3jfDkF`tLVI?n z)s55c*=Kp2FFNOODa}0k;}R2>s~>q;W>nVoWcRh`1VR-3{8zstc zS*SV(9x?X*C|o}1o6eaX^g256z-$m>Z?=nLae>ZvJ1c0nPl(>h@p<;mv#_;yj_p41tC+LTrOkm6>V|?&~gL zdku1Lj#@hx6)&ye}F0U z*gqYCkZHB_WykD2OLi|jILSEC*rjMZ7m-Ajk~}z`KJ>1p-`vdb1@*TN#bIUFY%Xrf zd`7zFa3I15CZYkXv2T(7OanPM^L>vO_`iZlDHt+s75Mv@CZcXGe93n-OSf*gZT5ewtAjrtCj$LZh0NX1x?_1Wm@Ir zDEQw0zYNW!q*xZaz8Q+Jf&r#K;r{(;vl-BlsVUwg=DKs6aK`vgtIdx1nND0*fX0YC z1MD3dO%cEueAl@CAuweJ=ardJhQR`KRWbHiRA>SbApwaT0=8eRFJ?cTVpmdV(NP$S z>X{Y>z5IUO01wCMwCjBh63s~R?$`r$LK5`#1B6FVUTwm`t$FX0=}!oU zg0%!@-zWswQHX>I`r_%K26y0{)gEY3$<7b*$cxDUiih*MX z!gDSm-UBLYf(QikUEj!ZXYuNpexbmhH1gZ$8Z&ZVCdfZ;Z>XQN=tIRN#}SaPm%wK` z&QPaWbsbEB_h?B~m2sn|)H}8*WTNJDQkt%@q}5h7jP72}W$lo5fSkwUyLEI7fE2ec#;G%llK&x!QsaeM)nyi9)C0tIhffQ0$TSL_zful&I46`XtiA8vO{rW$m zM<`0x?b(gXj^nL*dVNC_8MrHD^B0@XVHa@q`tcIX9$0(}GjN^44^vv<6h&_3b0tc9 z4Q50uzzCwtfvGQXC81ouV#=6zu8Cng!(0Ik{Ds1pHZ>cbKPBaS$FFGn623(K%q!G` z+P=KiWyAThjR=gyf?*gj%A|&Rv7+nJ%FVCmo*0Uo6NiKB-A>h)W7rMwri$tu@<&3v3^_4*5`cR1g+ z8?gAL$7$OeUjCr!*3F(ySZD(>Zrti9&qZ_sNNc``im=xoNp2aMeAX@&exQHdoN&g? zA$_lW5JzsXFLPgH*Eb){v>$%YO4OG$*w)GeRT)v64=py35xf+xXG>XBd4+mV$dae2 z9{ji>`8Y5ES)S4C$3=9;trQED4bGwyL@pr@>(5;3K zRV>yux;h*id2y-!msfV0oT2xKebTs=HUXLls~4NM2InkT^nOwQfxVIc+$~@gOaorm zfEH-_jdRm4x>m1Qp1NH9^&simpK&lJxYctZ4Rtm5s)=0CeKO`hJtl`m-oFoYsIgHO zXL|iI$e&(_Pb{Ph*dzHotPvJ$>5H?bbzY#?`kd68Jl@7o8H5Gp z804!eUaaFCp(1vOKh?Q^R`}qVq zT$oF66CHW7{OcKjrR_BxV78Cun<3JoAO`iGGN7*If`kUKD&jY{@YKX=Gc1f?*_2B-P1amc0`Ote)X=z{@lr{OwZX?NvZhAJ`178p48^azD2|PzGlj@ ztR;wO;oIxjLNPL7!hB~9Ej_y`cfv_+Ii}pMoZ}^zdC?K;EaIPq)(2g$x_4w&t6K>g zr0PrBs-Clsg=vfuoO^mTA?XYV%_{vpg=ejX<1XPFqD3e~{qN$r7=vN^r3+LF!)2YW zi?-?)_}H5x#O{FW>6IcO>D*2-kX}>LcMJNwBR--PHpJFvD|5Cy`OxIt6vyYI_-rw; z;(cylG<$v?%_nOknQZ|VCYV>Z|H0d`n}DtJbDBNgFT|fuH7hUJ1=+XRg7c#@`1=VC zMZ|(j&Sf1#noiJh2Df;Zw;_UDw%(ij^Y2-!EWWQ-@ICMk?KLoXRCZb?% z=plk8er$k9IL4l`{%L@w*t1`Bte@T~D+oQp(E!<61X^3CZGns)<^VSeJShhF3rwRi zAUhei#`Q(D1}@lEf#TYttnld`n`3UyTWPT5Y_IXxIl_KsYqKPWGT2=0!mC*Okb&Yx z^NLOQVlEY#?5ypd`}&gbwLqMqV@iQbUJ{(?$3!Q8=Aq~ST}~nwk9G&M*fH;9y$a$h z`!8uvIb4C^{wu%ET+IMAz7k)p-J(!sos4XFXKl) zGyO@0$)$Ft0I7A2_B^BZp7k3(=p*#v(h(CBfDd=;0j7-N)xYG#{%JlzsySb+>r5- z*5wk6VClYe!b{#gcOHcQ6)uzCwNPgfByJ1Xp*}dF8c*K$W~(erE-1N76)Dsfw~2x3 z9G{=pXEF6@kcz2Lm{suj(PokHPu}}q-B|zHkpEVx_V8vd&dFWrFIAKJ#hSm)|7oIJ z_+X+e`L~Jk8f^ZfEoemU!6b8_h16Hgzx|ZQJ~C!clI?AzmdAYa*)ZF((&6#t zRfG3m7)CAWqfIO+v5c3Zn5_Y*!bApsD7jLpz(~0xDqeojP z;SXa=&K!|?VO(y3BEnOzkMnaE6z1>%&Vfch?QclXi^LVaK(|wV{Rf+|yv$rM=Luco zsPG%=DLm`lHx{A(0yvgDd(d0}i6+^Z2@>4?JH?up(6wezpqJUJdgo_?+`HqM(_=KI z0k2+I&)$Y;4vL%8*uIEwyg)2>H3|iOPa;8(o9(;%>lj>T+vICP7jalvBq5^!8JQ1` z=jgN%E$;l>A%_QjB^uO>v%iDfneq&{bs<)EBOlGHou_~)rUwyyKnk@F!O-*B2~?nYY&{kVr%RBmjz-^ld?&F0o8z-qU9G>h0i24m6*ao zo;^+x!pJ7W@q^>v*C!{ZM&lZy zDyMf58!E@EO&?&_S1ax6-8Z!U{7 zZg&8$bd#cIOGL?(yOlx9L8)AXLdiuVorPe!-vEdqqm`ZjNp1qu!M;!^k0)In}Ma%vysC^X8# znq!14ZX&g*$)?rtKIqSvCFkTyTHS=zFEfuCFljGC&T>_%m+ zTGim5&kWI0C3J55_E8wzC6kJ%)aD$JGa0i_C3>7!Hu(0>5Lkd|2-x$H&1#x~xo7^I zk+9nle*esXN>v|#%*~^#7P_S$o{5uS0Yftm+`e76VBmfeZg6LV2{Q9$HUbwTe zS!vHxJSX9vA`A)RjO&%@6Nbc9iY{j^MBPeCM4`E0sM57f!CNi$0EIK{v23P^)a2f< zwWu4iq4?xU*ePj{hMpzk>mhFshQpY6@icNQCCsuCV9(%FJ*&r;+2>XR&2uBm&xP&#_5v^gZ1 z;48n{e`JRL_?iD7F0M1-re?@J!_BBQs4z@4d=4+Spg7-`a>e*EEs@O_V?O#LM)YH} z=8MZXH-lX2#)6s@@rK#m!v;OdBG-4TvB1!Z9;IL8XpTKVSwt=aJj)z?caR|?+=+VbuKU8&ew zG?it6xp_$sEIl8gA#*ot>Ns7FT?-o{LQhvUhi;&#i8%8o9zxsb9Jtc;@6h%(Cp+`c z&%Z;Pl`XR=HO50|!@#h^z~J;4hkRYVQ?RDn#p(e~XA~Jnhc7YNMUQ9-xctpgpt2%A zGRM%K+hYdL?Yl1t3*56@J@4F+7M7P)v@x60v4Dse z?0Gc#q5c&U=6Ej^SCk*!&@nHL(Ee;i|IIW?)UVyHsKIgH`3JfNTY#N^1$Gns{ z-Sb!8zK7Y2hg!hTtP{lE;82;cE&3}pZY_vmIb3yhK$y&I2-U|IJ)!+GUge1#Jl8>i z+kJ}QyV(ZpQ#C$0$D?PU)K1;C>eg0WP3?T==lEmjg78v`Ak2yl+~0NA{}J!! zlFMfY@PQ6v)TlT6HSF_}ZO}3Sr<>}p%G)|&y8E#SJNBPmtX24Ewn9D8YB}cMB(`cT z-8I)@LMun(ya;g5MaVY1_2_?)_SQjhcH6oy2|*HqC0KBRC1`Mm5Q1B9Cj@tETmvK! z+#$GIz=juI_I9+d!2j#q2B7IilS=1bB;NlXZ#+Di!=|6>(LK7Go8-hqhs6Rt6cRWou~ zIaAzl_ioVA+!e45UZ>oLFuz-CUURiA`Vo(i^9cC*^`SBzr)uM&~(1W12bh5gjl`>I!w&ZEdk0#Jc#8?$Mz>mFo;d1`53-f7;Y z)&#UeV|$L6qI__wK`S}(7g|%?Veg8+ozwl@;B;t3Uwqmv>}YJeD(8va&z&e(5pVBG;FLzA zu`9?12qO9C{zBTgZMpjy%G_+*Hlnz)*qW21>I$cceDM84;N~&w&RhO?AK=IE0}D!e}7U$f;gr0Ec8|Ke(^K{j*#{1|6! zi_iG9C-JRWF?|Gvi&%UUHrN6iqniqRj0-Tf`N%}Q)K@FMOtR|h3$PB{;;hx+k|{3u z@bTC!HcK3FwJkkak)%ag-}+1iN0cVw~Ex{G65 zSO40Gi8xj5VzN-!JH}4DWJ+hp9oM2}^{D>WxW6i(PY5D}G*i^I4CsgO%@Dw^al8VvFor<$e6E`pSlIl4hf? z4rRYUH5~(9-DGYKV$h*9BBgW6Z&w(aCQcF>X2Rne)4*(n9_@FW20t5|c;ppy(MJM_8)z7{ibm#2$wbVfsSG=vL= zf}=4e0OKuMAFR|g^|X0DzX#2%e3cthsE;&qDF%cI0U4e^S@21kf3`NThj_%jQEH$_xVS9H za{01fT=})O<+jf)eo;-@;CVqxRoZ%c(q$CA_glNH@w}={PsS=YS8C^w-qc>BWk6+m zS$RVO1dY9{c5}Y=x`{@6ZvF!bFnYoE>#=pI^~CqN!!TA)XlVMfw5qJEDlsFYs6!~Z z7ug$1CF|u%J6RKyc}WC~6!v$eMa+Ej%WYah{tl^J>Q&i3y?>-7vTC!Rw}F9c(C9Xo zecZCpgw7@fqspFwmZ=XsBl|E(-}?D+)osy`0U5z?GE@?Y4J1SEP?F&l zw%&t(NBX`jJEI|6X-SfcpDS)Rwm>#KF=f0sM-=*pQ&V(5_J@ zzGnm;gyk$In_J#-;ln|U2$ywfN!-z3;||lBR&U27`W8yaJdbpD2>xoL>&Qn;@}fOV z&^FI4YNs)P(}Xq_6#Dp?qR0=3SkEm=FD|y!nCh{N=0HCeYIR@0}ph%!3gH$3+uA@qRj=n&^gwc-8=533oJ z-*72VAsv9n71<46P#!R-M0h;WaLL4N?sNi9H@}RcN`HRIIN`A&xyvaJ@X2DBhsv@N z3Tm1yrt4pKok)5n@)+(xF$bG$Y^d55F1DVX&h=7G4K16-=N-n!U{u*q1Y=)fcuyT9 zs!FIoR)RnEEfs`ju39u{4B|+cne%N;6qFdh zBVl=-dF=|=DdH%K-#!$tUk7wb49;Vo{iA#^#Cf<|i`1>sDFvCMUbAXQjR5 z0<|A|E|EW%hzHDn^Xj;CWxFcgbL7&Mb_dXx5AVjtuIGx#V=z7DP14m#IK-kxWx^>5 zq}cM|@m>+`ptpH$ps`^`)0AI|gOAGKPtSMt4Jle_&9(tj?eNqmuqR-hRvNoj>ep&qigCg%1SeTnt@nA?evmLPFLG1k#yeFrVzEe31ekn5dCzkMjm zIa>@4!@?r)c<>)L52>Ym^E&AIm-efF@kjlquKIs?3XTyq;X~VLH&iyWL`IUJ~aB2&Noa~&7^pj`PK83Uz(CS*tV+?gQyUub;{ zK0vocm?U{^)tlXKZ@h!AeakCL>?YqXePxYOTKm>X;^I`&?Zdo(tP-fsj@xyz_-Tm6 zzCmAKp?JX4rj)R8(&Ij-lFql4s`ctH#H93Kakq1HwnQn7L(-|#onOjz%c6d0Mk-B9 z#OOvQes6EfzAj|H&BRYLLUVMpsGP@6M>ECYL*pFQ(#g#aElkodzIgy&-JFQask!O9 zD+w(mDuwq4VS(bs3PkN!L-DC3mFE1>xxsF%cl@1z8A9L))g&JFTq|8=o=lytf?Rb> zGp*gESP>}&Gs#j&(VI!>FGPPwpTfA4Tv)En&=&21xIZJxh>k34A=fHam^0dI(P9tObM$U_d73wo+j#Kvtdn)%lH@@?al-J}as*h|qE3PW$Bb;jKMh=8 zav${z%CYmEPcm4+h{9W`e87h2jgZ=LxK z-|EhCC&jBscYi5{A?Hm9u9>$$#=03+-H5)(chePd*#qG>_~T!IzaNS3?m40_MeJ+l z=Y)P=IrR){ksPrTORr72x=>f0t0p}^r1)|cd_DbtdD&OTiVXXrJnxui+Jgk+rt}8) z-M!VTeWf$pKd%DCeOTp^?mMo}_omS;_drPLz4r;2f)0LR$+zDf{bXJew4O4qevMtW zr^>pTr6Wx@-c7Os;12;$OmL<3IoVAy zU4e-O{T#8jYv1supDVApK=2}8ue0POhE)KWejgGIk-bwwD%95I$^WwO=NVx=%kuDr z)0)#De!?qENQ;cq0)R90&3u6nEqrZXqk)?vw7R*e+qjd9}P5%hB9sz@`*m8Au)$Y{c~qO86Rm4N8)V z$s3(nXqq=k#8DWi6O(_ycGXfXLDVZcDvgijL^)3x238TrN?aksJ~Y6=@5e|wfdAqU zE2LuEBu|!ARdyXdS2WjHst7f935UHldjA^~veN~}Yik{4a!Lp0fpFD73}?MIi;k1M}e z^ONg^*Uhb6fPR%o)(f)t>8iULF+De76o>ztSkby&yMS; zY<^5gA@#mQJCuB|eJ@5@sHKqo^3LU2buR0GH9K4Wy-OrROoT_QhcGY<`}cFm7Afco zO1(y_HJ{tZ=c(?nB2sj#;^6+|f}g@|{`kibJ&#Z{V?5tr4FJ|3f^^ozD8g&9xW$yu zTx0ULSViivCCm+97Ny9hF?s)~a(?79edJl``vZ{UGUCt8>S=x7L_V^#ndE5mzA2^l z@N)TFoSFB|N#)q6Rq~I_0Mv=15fZi#OiL}>4{wdV{hW)OCdAT9{7OG?NWA!-|84f$ zUC<*>JNep#98H$eS4@YO*|129l|ka#8qqX_Y>YoPS+VkXtXPbJ*L^2nTpvy|o!5X}B(j$b?dN%?XD@m==QqjLhhf%v zJid^PHC8#3b?i1+q3s5VKO~#CC`T_FK zj9iL`S-tz;SmXu9XBX$8XHTtyY2;eivIB;v|ck(HD#tCaw%neD&R8{juNGWu} zUI%-Kh1JPrx}$X&v1d_?A0A_7)HgImxiLmf-_e!x@r%>8{=FgJ7S8@6_I<@fRSZ~f zT*=L)Ly(4NJ8h%C!j9}YbENU{&`hlu%K?QFU&gaB9!gWBfm+O_vvB@_o|5;NANP z&UAioG;D(7Np51@o?C3+wKOlwL0&Mal3Ez6Ww{I5dq{t#^kTh2*RRzBlH z;-TFg${^Z&O55BN?GQZl8QPWLOW}C*z3pb9il$-oUqwHf_e^i=pd3jR%3H*~X1 zi)?bU7^jU6|60j=s)vHOs#R-VHCKDGeJUL|!JVo{{0LiUj=iakHZ<-61zOh|t6pULXX!La9p!6HG?~=oFhO(t<^6^kl zkG(ievv99!+`9Um!LB7m=Qm*uSQ+>}@N`o#b9%|o_fUX!lDg40xn2xW&NBI)mBsE* zt64OaTt9r}m}@S$ASvLWHM#)zNr}UE^oAj^xB0U$u}g~*sxJ=`cR5D3j)9W*5{G0!OEH)Z3Q`NahUY4G!ZvA#&=ykdX7KwZY_4C9%-XW-gQn!)McMbR#RF)#Qh zj=5R9u8&#U8p1Po2L>No326yPUgwLyB;(*+@jrv9a` zGPga;*+2`#zj0iO753Vkixd<(GIa!9I^wjs5vrs&B~Y8-@{eS!Q8Ub6;?Ms8=M7+O zr(7G8q)GFzGg#*zZAi0fHqO{qi|_@fH(1k9--8ri-^h^%z9});jbDnM?6?1cQOW0n z^E0@vKW&-CBDZxJSdhRn;z=@$vvP7{Zr6bkOBFlbZ4d71)Z6S_E@z*0*qQ4yTXVR{ z3F+iodNe21m>sBAKUfI=)_h5C7G;b)%=R)}`@x6Hm`o@Tu+6P42YVFN?$ZieZ>>m( z^zbZb{9vGG|9h=e651rQImA*Rc7u+PGqE% zx?tfw1BIU_O5f$=Y5%-`?p9#ThfWYG(64CKp*1rTcEyybaLhP(HlQ0QjISgIUQ|hs zysO;ffAU*A53D5+$;hs37)60^bGE|llzUefPO;zU2utagq_}%Th`P!I3-5n zWLXEP9kmc^n3YttYt(4`!JFjVKxXQAf4IPlhPi$BjA*nl09POUn+(X4F`lDZ8V>l1 z=GCkt@a-s`QiUKT5fUikQj6SgPjJhbP7#?=2393>CtHwCI#^y3T`QoX<48ul04Xfm zXagvg#J0D@x5l?bA^(ol@sBnrhSDSNO7yj4wQdRxuA*hpAX{j@ZaV*mxp_Io6<^QQ zcQ#oF+4ggoVb6K|!fIZY8lqQ|bJIghBV%rkclNWS*?RFxIDZhF3VHueS#u^$B7gCkBdlcT2R<$A3xsS!g2N*>Q8DG5iOSO zZHi1lCZIMo9MNGVfP`%9HIP&yF!+=9Jq*(3!3mPzz?#q~RWFmI{@2+{-4dh(W9=nJ3V2WM;8`G)8;)T^7=sX08vJ%>irpM%7My1spi7n_<#16(lL1 z=_M;|oFD#H?JE_PAkAvTCnSM3AS^W4bu4&!gXy#huXN*uF`6x8FpiM_0ziK9)*g;O z6vJLitHu9_9^4R%`hzzK*)0#ui`p%bx$B&{ue7&JATR&H`#K_Vr+)dM;OtoyLr@>T z$Ix@+Q3%W}y|Rk*G1tY2w1;vSXw_%m)2)o(W3#5dJD@Ak#vLP(#+6empF<*s87b{b zMc$%U^fW@$l+vMIre|2GVQQexDhDDgl#kvl5hOtyVs-;XWE3{E(s%J*S{7=P_=$j_lluu-z2h(}^7QvF8T>l)mQ}EC z2m;?$DU~p_cm-cpS_IZVg#o_c~Zp|4^eD|`jNmU{5w4Qrudmaz9LxR8``jvgMpX)Ow z2TSl33l=Q>g7L_S9PgqZonDuR^eAN2yXSrL4c%om>PFtzq^6{IK5k_Q*m4*u|4QVv zyjYfVX?4#XZ_Jdt>%~D_V(B2=ri&!&cbBM9;eN9jlU^ZCN~)1EUK zBU~_KuhlMra0nqSBAOLHwl4tsFPNftV({3Qr`7d&a@d7H7m!`x+>ptNz|fQ*mx4}< z6FKeVpLQ5+=jtb z^9ELBl@9FeyWRR{-+;?!GJ|}FF*0op%uPbMAeTGHA%S6kSP_ozopSzEMen;73+<-T z3`wz_?;4uJI4q(|x?NkeW@dI~(FLCN3uvXO+7~0!KQ8%_Oi1AK!h;UOyY*eSg?Kqb z4)Rg2*3me&P9clyRT@2TXPt_~qC}g?4e&4oOxiNnC z)=zL?yz^_o{c)$0bh{eCe{C|+fJbI0%NIR-+SG4#w2P)z#xAMG-IfCu+0lz+HCQKP zO@j;kuOmKzU%npHdItEsep6`eODTp;@2pjP6K>tLu$suD=*Pva2u`4B!Ey0&d8=;% zZ?D9CmMZ>Q)PXue{4ccqOl~sj&HX(?8(8y^0iySoUnDRhMC9{lD)Ddxs}JBn z>e;wOim(Brg_+Hfx`N?b3(@u2IkE2cNwmMvL>wQ_WzF`gm%Sm2BFr;niLAe2J9$Zh zIk8y2RgdD#=d6u;jXFkERGj-)T59Td<(VnFYK9gmU%7SWXA_@IdS7B3MGe;;gF+Vl zhaBf+J3h4dafw%oXGgW4TJY;DTsJjZHdu$08FqOd*VBft;aA^|Z=mLo!Cf?NGnJxa zTWAlsp4rRq(9X8B2)ta7d$_bzljQ@eMVQ?uzH{^`7wPsqN`tDAtH4q{lC2Dr)M!P@ z01?vh56>Q_VuLdya{j!!e7)DMIY-H)BeQhO|JyPC4OQ*=dkZ!;leK1mZRD?|to*ep zVrT4s$h-gUj}H%~lUp;D%wzTM{Yr3f^MTt-a1nl4)M+;06MZX)`5l`f4$HL-wom<9 zyaI7W7vUY_wv3BN2|8;_Y|P@(g*Qb{bO|=))RdQ>T1`&8o^C%13hJ>>fy-K&M|(iU z&ei`y8^L*>y>^=H>7}p_hjr?v_$EcgDA=1W>v_c|)F&Elb}Lguf`zc=z+1D96e#FJ zHIY&%zbpj>rTvpiGnwvOA2cG?Q}?;RrtEk-wpwv6jbtMm2S0Bly{TEWQmi%fl|bS3_-N0#j~ZFN^w=ZFP_soTpgU?o7qY|d6ky&%)b+SWg{{Aj-DiAB_Oni{R3hB z8g|-4>k%qcxO02WX{=7`PYi!Qg>H9$B^sLelfW+|;5iC*k3s|oVaZhqejz8{iFzNU z{~Euy!OPEozB8`j=>&d8{(MupYYqJX^bUpY@2% zQ9vQkkG(*;RMu#~`r3b1T2Rm`Pxq&C~wj{6Ye;1{! zqvq+OTc;-U*j~DUwti@c4SFvVh~R(nCqkUQ+i#^q=#(^73c5G2R_R%{YCx^ajM%=2 zdmP?aL@BbSFT`-){vbv3%R_iz>b!l?dNRF7q0Xyg#Co2k*8jFv+5tR@k(1n$UUUTf z9V#qy`>NCN!)=9V!`cLeQ|(F*c#FK*(ub<__d|LHgyY)Ybqgiq8C$d`|NLKkAmRcXQ;Nj7D;iIb%-=IaGO^lyFT9y?cc8MM%yzjJW~yhChW0rghN znauLN?Xuc3p|fNjPikKJmvtph#TkdvlNOj&K1tJ_5aZ>s2>@2M&U=HSe0 z$flI?+ef}`B%Tc(N&^+A3;g0-?J;0%e+j~0;x8ucZ@zKl$2#{Zb6L+TE4G(V<6Wsm zS}0d_h>Wv2LfgmEI+WJ^&~^7v(2(Qzmp9VVaW{UJvI>45t=W&#KnsV!Y~UhKwgBF_ z88Knd(xKAHz?95tC;OBUBIc2H#mAkspb|9;Oz8wHXn5el$(}NtmAjg24Ku6H9Lk=6 zO>&E~eCD9qoRtj(E$SZ;@B@Pzux2$sqWY5pAn>?|=Th(|d~s@O?`wqng3525CZUr> zXh&!Qe^#@v0hQADW7neMt>ffS?lf8f8qi8w%F<0bs>&+kdp*27DfUfQXjFYhl&YZ>vyph|#qzv4F~ zj*vSV;onEHn^)pM8n1L)0YvnIvD+Tdyfn8?oB|b2DN*T77{r4GsJRLe`g0%moMlmz zhxc%QO~#9!sfc%eu~^x+bQ}9z^plz#_IG}#AQ6@q8A;(Q4h((^*rJvob+ zH~DG!2ru#Kmz*Q#S`U?Z3b5|0QFLiO^G5>RsNZX{nyI9Xk*+v9?&D!`qUkduMi0K8 zMf7Hk#ebm@z5e!pdJF#leMa=|)MGZMRVD7gNv%P`rr&WcRmD&s9)(FxJG5DflgKAO z-{X%3>=7;MGPRjF%~QRebiw`>;gbQ2X$a1$=PSzhrt>xRY+oX219#<(;xNW9K)6~ z52mxwyR^*WdZ^8TSJ3i6wub__zX0?V|IN?Zl%_==eB0jqQuNj0GPCfU6XJ_AZS1;vt>Ix}W*{yw?X5R7|G_%?u>3u3RfJ{JvxqJr01hc$pC>_y%6m z`#`PV(e$IM#AIKlrVF#^Xna}AQ1vU`#@`U#>q=YC`C?`Mn8V)jV#bftoye9{#>>=#oS@0j0#B6>|J6Xg;J(c(Ud++%WR)W_AC<#fZ082xU{V46Pc~;oST_$Zt)t zkMJ8wJUF4TJ^Vue#?NZisL?}QofQ?ePtRoCpW%h(ZLRZfDBw@JoJrcq{dafT|GeTh z>9mehi&$2-8d^E9cLZlE0Mk$w{=R`!u|B+q@62_(rB0hp^VA~wD_C(G%1sSQaPEdt zr@V%blS9JfBJ6s!45-kv;{w!E4h%+=B3pN{VnJnv(4o zVHcC=Rdbmmq5YB~@0l`^V#?xPEu}A{l6o9>I)tsrx*&=s2xnB@M0o>X&z2eOJ~GT_ z6QG|H3OwL(NP@u>{pDJhwk^fu`M)VW$N@K8?p0Ab3p}f^I{S~oRD-4rukgS6&RVBQ z&Kg%J8|itu45e_gP~zSfQwBY!cpJd4{{PFsDX!eH;41yyDQ96uNrak|?ey z8rtb4j!)Q%evUw!kLPC;237pU4kLw_!(Kd-62G_Oz*`GpcHsU^X1boBguW6=|2%+eEn~)>?}U_Clf`} z1P4p4{i4BM74o>Sq51{O#X8r6pSe9YcmC0PYxQsvc&3B9F>Xzw65&>tDG)3C9O&_Q zuf^Mn3i{OSFW33yGO zRp4noBjmE*%8_wXAoW+C10VY|2+VHhc^#ER2=LtD2E)%QB`TJcrEzijLZQ@%`}oZb zlAT9A5zO!69Acfc^qV2)Ne5^Vo1-c`@)zR+vbW#H?6PMbu5ir^VDK}Ki_5Qpa}v4$ z1Sw8I8FDVs-aos}Lk4@zrIj8JwIePZFFTFDoMsJ3TB1*}E+`#B6kyiXd{-1W-jNBw zrFnhR=NN$I@Qj>Z0jvQGNMuX$fNF109ly#;8e!v%5WaJWgkE!1(AC#g0W#&n$Ds-S znpM-PZ!%?$ZXEQ%5jx)*wTG69npboYKw953zj&(RUwEqrpZl&aE_6Q)oZ|`%0QN*% zFVj=jKW;8(u5#D-Wzc&#)0n(tkoXlK8{#fCwICaBlBV4FK9Z~|zx|0rTAeukSl8~z zcyGSA=2@#1hz2mbN$d2JDc`@_Jw9f7n1{A-*cy14*nV&C%`*|+kzJLN%@p0~a0YYc zQHlPHTMF#utk;m+6)FyGhh@(qx>-GF2_aUz$EPe}HpWhBMZ)DMibRij>0mWcBPSgs z#_~=2S#K?tSs%*&U4&JVWJH3Sxx~jq2(}<=pUJ*7Y5B0fpE(K`s^XC&r`#M`nOf_X9ZH~&u8!fyofvn7+yfDQI<7AwnWgnC#6)}z z53Ju6c`=aitmwU`cgjg34;Untdz01k-kK}J{+YKM$pBW+X^KvV70oCpnr8C{MRmR% z7Rcfa?*14IloVBD_Un%g%@FbmNqYJKG_ItYzLL05Ng}@%SZmQ974#eo;g7=KFq?!M z^rM6n623BBH}5MP@0#HncMBnV70&_->I+8+6E7P*7TPLHqwPdx4sGGwT}?>29=%zh z=|Y13F7iqQHD%ah93=d%<7HT(|68Cnnrzh6jJ?DiA^+>gN;L^hGT)PS^=4(2RU*=% zpJpCZ&7@BBp0~HrJGYd?V>e&FrupxMsiI}ot4bs10DK*_DGQU`CCIZetMebP%Kmw} z6EU5>-fO7V=km$=IGe`Go}OkKk~DX)s{ z^&fyYezV;Ub12r^J8{G5nKhPuSd)ZScOAY|r)g`tN;Tg|^q;K-w*A4s(8}Yrh9rV! z2tsDmIYme&I$C~$MTaagnr(4V7i3Vb{btD!9$qxAxwD>B;Y&t1IB2C5b{OzW*@4xj zdtHA}!@cq_5(J!S2wm72P=0Q%Bb;1mI7w$^v~Sb#F5<`-)wQ`H)%*4rTGuB8)qH59 zg#Tr%1npgHix0AMA@?Fba^f#E6*A1q%b;>zub-_SIy;2$K`lA{M28u`=$ zxbjKHf6mCFDmxPWclHmCCdpGhZ~2xk(Tn2(H4`B$`3#RTnD}EvF4K|n^WwP{ZF0{R z%9+k8KAsK4iFhJ>G=4|KrcIz!(1b9(~nzjX+!Fx;HC{E|}srDzv7F6U85^ z_$DO|;yN~&MCw=yM0t`^<4H6mFcSnGb@0CW+C5u3GNz$v2MUIZCMI(O*>1Fy=0pHbVlmc_}*xX~eI#}Xs!60OVLQvm3BYdEus z$e-^^oQnSP2(+1woJ)K*2c6ovl|wCn`grp*&07_FG(za>_fhC4jNaX|_ewg4$5agy zAA_s5RG($G3%1CF{E^1^xt}6-{l26LSy=xgX^x9u8`-#lBN_Oxxs&)m58P>(;f91; zi!H~=;7HvtXU>wN66bQ=lUuPtn%bX=5*U=56jeVhZ}NO|^ej6gW}Z{ZpzIZEpdFR&nvMYpMoY!}fLs2{vxKSusy?N13NrYh3+#n>AJ54!vV841EVV zQr1#XI+fe#{C2om8d58ML-Q(l=Wh?5jd6)jb61OE%}SMCZHp@7f;@d*9%wpkCv$+@ z{5sQs!ee)0(pP>BhGkacShQ&VhPdR_-=RRM!XkYC=TIQcztAckdG3BD)!DKO4md1{ z(WmQk@EwtoBX1q4yLKB$9AQCrY0QJG>LpU#ENcX+c&rb>_j-(zT>gAoDOEs|rO&A> zo~W4$S;D1YT>5Meifl8a;jH zM7@^Lxu;Q?xKPyi#kvZ`F)-b-Ewiehf*dfM`v-fF)ZDg$Cz4~$gJwQ_z*9RU_qVf? zX=CAoXc?&Lxr5aAAM&-sF=XTgQorn;ZGJ2^ajWz?@<@`wzPYAY4wLDi_G*+P9XU)$ zWNz8MmG(!k1QWj=7_n7loROv5K-*qFQWIz`^mMp_xCY0$4-yZ3@HZQ`f1^B5d>#jJ zyyOKp3OCa*B-ioFq6_&xz`e7waa!ZnwFyyacY~M-JbDF$>OHes8jL$<+$1rsZIQm@ za#T<`YikLnpcB2uFoDon-Z==Ls#axXA}6J-{cohAr$gagL%v6je$J-_nuU(qKTNA% zOpIv)$oRMyrV!#_JtI}s=k`~b;vEt`Iv(ulbv%31Cqb}b>Kil{_p1E=Z@`ys_i|}2 z>Rh+0tx(I90jLA9S)w5x$zkfeEBXomK@c^)pkTrIC>x85qr zxJXc*IcPg<67`EkroTrBE0D#J_Nd4A)Wyb`qV%R+3f@E_1{8FM5RV{vug82)n7OLZ z(pSS2O|-%M>;Oab^sBht=1PDZE#YS>S2yN(xAoOG#G*VJ6s{5@1`T9z_o z^;zS}6B@pH?oKj@$CGNk6jrw$jN=zzSdL?1n_jsr_$2HEAm4pIDDj>g&STYwjw8t- zHaD@)jlDdJnV>YZGz@gX;jI^|L_>`#nFO_E1~5nJ3rJuFoqQ3{`}2CEEX4=LKB?425OFQ0zqIQ*C83^%y&)+_#tLXT) zAfDDhbx!m~_l{(~3yY0;AeoNN?;@4L%|v~!KW-AV4n6PF#MqUlL|<5PTSunTz{$4H z*82NVWNeawQ}k2(IjUEPgw!{)c2EKcR|~eDXT!p@EFYhRVaWu5GN6-?@Vnz6*SJgE zQ;{Q*%!oQSvw=pM=DO@i&6@Obb{&FcjwNXJtkQL=r%Op(SYOv#;*LnH%0ope#n3x$ zsK=rocnlF~F_FTuqWAUnCSW5z=+MQi3m|V7w7HIbK}$pxf!gsns#%6Bmy9{RhMb6> zCd}Ftq<7Ti27mt2*K`;H{x38k2_f z*y<#ErtYy;|LFTO<;$0DyFAqRYjn-5#=w$kbVrogM_lwXG$QY*2*iWkLMAEz^0+2c z%g}B&fvlUuTwQ7Nn(If_Rg5?x%CSw{E%y%s)@KZwmWjcRxY<#M`KTSnmL|T5hYDBT zkiXEpYs;R3JJquL+zj3kA8io^W%6Hg-$tJe-uiv9{)z{EDkgovs#I#3IvgCl?!@6t zk+o0nu80YV)#>ZLdaCN*U>r)C=@<@vvSKzLld|>$mB8HCWNpio=*Sjag2K3X-eB)~ zqXMTL52i={-D(+Idh;)|97@GPy^7in2?6GIHAvPQXZVhcktUqi3FY-a1?3>SZh)#a zTi4}3aThM_in0~#UaDzpYxUsGRk}_0Q$PbKh8Y}aY+ekuIq_`hWZGoEreR9QaaZ1T z@`VM06zF0bRx7Xce2-Bfn!WcYb^Axtz${+7>7hQNg{XqjL5NFQrAxtwPy1OPpuvLT z`Oih-W=v5^y-tnu#Q{g8Xb;=sUQ>vH%Hq(%9k=As(DW@er3Cj-(#QR4Lw0>d+m0>0 z&&M0ey6{=?C|@bV<8pfa-K?ggsddSvGnX|u=>1)H7gI*aV^UD-V>2TyJE}O|3=GFS zmX7>(R}^8Di$i>s&|>=hDnLf4fx2YW84rSlSS0;TO^GId5bKq3uScIBWfWm3%dILY z^>f;$Px0{#1J{wnc@1@UeV1+NDQxL-U&OlaoTV6V5NumnD!6L-hAsoZlVgIT|o}xi)0O>43{jkUZC)T`LX)3j)FRb$8 zv?qSmzgzbnN0n44qcIN4)Szk2p^+Mhb0dC`iU^-=x5Ux)Y%!S+kfN%OO_NsNXZ)V} z$`fGB@}>q2lUpJ^TTXQA0IngtR(h*7F<-izbvoZL0+&=Xx9=EMRMbEp<-f9S8lWD0 zDnxPyrJ6uMF3aT|#p$weH(&L>hvhCQ_tYcbu^tRRJ-u#%0UD`%-*Y%6VjtR=}m*yfug5gLpI0WC1t_ozdq)V2SzLPfyw`NAXRh{sWjVxw#55Ei_gp1nsuu*h43Wb+0gt5Kb=!o zcl0IjFrTE9lL$h4@F)vk;MDM#Naj`FPnq*3)>-b%J@gp9CDhSf_X@*2^lLyfK5zA3 zAixG>bY^9S(KhX*-X|ZO>ahQXB2BoZv2Dm?I6`+kp&eiAA&1jKU1PalGf z&YnaiT85sk{wILwEiFeXPcNHKSft@;TgsxUcdcRG2d$}jo+Q_rKaZaYu<1>){|?1% z`Ami)mXVCJcC-DCPQK&>>6K;3%CPL5o13#A4v^Xl;8O7Vd7v-Oo0tB2A$m~#@$UT` zqqIZs+di{KbFGi(olAwh?mu@RX*7c;u5EX&$+03dH4b#~7#grYL@da=EYs3DIB%*S z);?KbiyG|rok8TgzVE}7s?o9Lb!691`aTPYqrCPd^X1@}`4Td*!iA~XVKv4pU;`P9 zLUgD*A}#87z=s`?%qdTr5D7-B$dJFWS-$^)%}V=!uvt6;|HNj|R!BTI&gHAu<-@0| z-M;k?Pz_#Yx6Jo;;)-Zq)?$dZe@Uz&Zp~q5=`jfym=?qg_Qp}rB}qkH-S&!tlfFr}-rw}AYp?y> zWe9IOTnIwQ->{n{xO0{?K_`A*4?wM)%Gsw|Tpo3=@o(k$BVwr3wGHbls$b0f@$Z=S zY+L9BOK{MgjWQ>y^aP+aPcjE06^3k3_|m&@FS&y(R?oY$nWqv*O*xx-fuY6hs&n`T zIuDs(8jvrtOVmCJVvV73qB$xDdSgGSvU-v0>_XP z*gTCF&}O5nWpsqaEC_VrP0YxClvOEm2B%48ZCCYFel~dir$O6nLob_$e{Ybem|IxC zEdW?I`2|k6)L_PD;vf7bpC;{D%YQ*A_}5oh@}n`c_ui!Nx%k?;*GQLLlekcN0izx6X;1)iB%+ z{z3~WridH3?}#zB>N>7G1}qaOu|=9h;@Xq({FH>18!yrGbtv-}C0_#$ z6;KO=rQyRZ*eyOx+*ZH^+C(^f`0Nz}#nWl}YwXoX^^3`}R|t~KzLEW?MLUg$n7m_= z7MY+nR~k@bE%O|BaI;|sRYAq3qXX40bQUQ|SsL%DNqv|iHWjf*3=o-%-XXPgHDd#U zr<9T30I~}#S6X=PSwH+4BOtCQna|h0WAe+##{#-T`Fm`_&!-MPcV~lrCLl0f*w&hC z-y+>Al$-xaYbKn!3+*{Wb=@!Hw^F)*2Z<1c3r`{xdX-yn^pP~vB5@A(u7N6z1&IlvjR zp>&x;h5wmbKl3?7urP9R#ECcMdH{~k zGaS`YHfg=)AF{t`Lq9u)b_W#FR^GBH%~3!UXKxUa{N0bRD=Zc`@*64h!W4B{0)z5; zYeW<~^Ii}b`?${CKN-+72wr=ml`u=*szv0cnowNK`C))+8${aZiPt@j(FN`zX)X-& zp0QF}bWFLd8_zKKAB4SSSesq9Eu0ps;qJ6pDN>+#(BcFs?(XhxEfi=ePLblpHHF{= zEe^#sB*8VfJN@#U_w4K2d%ydf^Dp_4T)DH>nrqH6#~foGRgQhA=+hV`S()!o=M++~ zNX@^;v`5!R+=QT)oiEmO80Gn=sSBherh{2xGr~sw%{F>mx|giQLJgXq1)!DeZB%*K~l-YdsCSd!LFg2N^#oD{~WX=TjT%V&P zIh*<^5}tG0^8WrINJ<0L2hw2~_$A_*r0`iCgAL|CxG2`VTT82@m-l95XSB+XifM zbWq6buqB~)Cfd2xxsyIT_g1c=aQX3J?6<*nf#)(FBIFqh9!s&AfIFhT>JXWgF{js_ z;%9vJ7f|e_wKx+k!PnB`FS3@TB@$xWXo=z1-9tD}F?d+RteD0AtY&AF)v?dL!ip@A z6pTHkp{|MhgBWMyKoOXM-!lJd3!TQ zICk|70NPajeXcO7_TLcd&M zACL)s5#98*EX&Bvu%69w)vM}D6aT$qY*k)a8pB&&OwT<`m|mBvAeoRlH0C2G3`X{( zwfOomY!y4wm6~g6?JWdkfJQiZmO9esx`F+j&KsKHr--1`{^Rg*YE}EZ%IPbHuw16@ z%`i5HaDk-aF#k-#&k2IQPpz$D*M02XIU~3HtXD8HvMei~IV!^b405D2?0*%@>RiZM zx!6};Sz2BVJNXAD{C^N7(KJf4fLr&Zv7aLGrcXID(x{tNe~U?Hf*7NYBXYQ+#Czdc zX3ca$*O(lwh7Qh~?*(5F^=x0l*BY7V+*+*aCznK$Ccim*y~>ZS<*b_;d;ay&aXW;i zxy0qZixG0x(E59)L07%Vpz52|STV~l>NX983SaDjsT$B~S>E-V04%^WzpA8pLUUGq zT2@z4o!UCmkB*)u#tjK}jIwyb5C$ap5d6<`gwkx*6pg;DLhCrq1H!(X#SMc>jI|xP za2@dD#+;iGY-I)hh%Y-8*(8Q{W8`Ic1>moy7Sjhs{GlK0R=sp?tNI}2WUU8!L*@N{ z`VOm?Y--m@qS4`tR@FFmYLlXOa#(la8OpbF%emQ{u{LS}uP6BDd%E273YHx~W9Mt_ zI?%pObO~BxI5xd+2<2j4J0-d&H@eouT*$v~dBOZsP46dlkIlqp7~T{ zY(t=r6*L%1CQ1*d9S;CZq5a|=MsY0uxM$27arkEFXixs>e=O;C(Em}5yr#2eWC^Vb zZh!D>P@CP)``l4|5?nf5tY4+2JcUTAijUk-XHBDRDC!P>BmH&tWde4C%B|ox;{j|@ z5!46tI{w>I%bK)`EMyiK`rxaBVx^L&O?Tf=GxMFt6))sqR}c1f#ld=~^UQum&dj>Z{DQs3DuxjV;~JVA-pI*` z2%kPrnei4>pmKB`F0Tow{F!nou&@^PtU;4MNrcTB>+ogI<5#`~_$9$m*Y;`2W5e!O z!y=qR<%l`){BA>O?@v`O50^RfbRnILr3nvKG<1=7?{jDA@-~|8br`Xk&z#$-BVO># zWi&I{N^rTja+m>ykI~G1MBMF#CcnDi=SXvbceCC}Nb>0cXYGr@;PK$u?)^}DwSbiN z-0KS1f4NKl;}K2Yl$YAs+mw}Mhy?iQS*6+=QT6fR4ri&E0jQI7XJq0@aNT`k&Wb_` z^M52RLbig(G-4Nw=8G(2L038J{+x+fQ8QkZz;MX3rRt4IZ{RFho?mcwXIfr!8KL2L{up z7EZ_Fg0b@#sfiaPM|uPKeWz8HQ#UXgc;hpJZSysFEMKkE2er@-JIi#rL}9c4Yct!s z)E%RoatpIf3M!U{zES+Da#?CDiI}Q=xKq)J7^ht<9-LK8p4J$+Dhl5C-unkgG^lr# zBk|G^ZGWQFG)6=#7q4<7IL&rnRCk^ht)sW2r`l($)hf@917H7d!aX_W3?iiaNAUYMb`oj?}*&GqR-Vocg+Vii$RhWepVN(%)zm zU9%8xC{`M6dsUeN#pGu()=u8M*=XnWo0+_qjkmYSH1%Yk>9bK+4`v3wHsq9vTOqJ= zB5Id3GMqnR4Tc8f)p!|)NSu|73oMn0CGY&QiHEnxZ|p6G5^nk%-5=02yKkU@sskt{ z3FE5g)Sny5>6y(9MTM&xr{2RhxDBo-H9NA+h^8qrir2!30(sTX0n8rCY9|r1fY+0& zzV-@dZH916(SGT*b(U{&5ttS9;fZ5iOeLV1?8I5l=m#9|k`0BFi>SJmPJt#V4r}*4f zwd>X=*Mk?|v?xXq8A5&WsL>i(UqlTKo z6(=a0Qv^)SlVc2cn(Wy$zlZ#U$Zm=>of^$lEN<}xspu2L?HjG>>n(kwS;jyQp_Ar4 zmT(?)n*Jwx8KjlnF&+#nIc`Q|RXF49JZU)Rw0kAhG5pCLzG^_WVEV(t>KHAT%@n&_ zKjMZU2$p)nupd2vU2dPv$rtbBYiQ1m?%jOG_o9y{T4cB{2#p-_zOp?>8e6r%&seo~ zU#Na*h^L0mDb^Oa&GSae)AbfQy+lhlz3yACe!>$6Un*)D3+X9h(olKngw;O-^-o9& znFYEI>3~XGywx%$u4~-G_KAHWJrwY$@8yHD$3j1Z3Q29tlInUfu9_R0w@mDqK#gdL z(>EvK9`Nw{ZRGZRg%vAQ&5Tt%``aL9t3mX?!{L!4Q|{ZfhTcm1Hq+3!H+KtDFB^4L zyedlT6#8Y`k6TKD~=QSHY;Q}g1st0&|%wt_P79H{$_=4av~7O9}hW`WnA<|(&=K2_m(UflxP*mpKx zV&|GsjB+X;GxNv6RGhx9wEFW>WKsZwfP6ku325N?fA@0#{Z)VcbBtPtNc`X)2$iL- zb?d~StS*5sIhh!gXzB_~mv{FBXBk2wg>^K4L$I?X0-3WE3&yw+Fa#4T>-v*S8w|1k78M)F>v!>r5W;Xr5yi;dKh~s*?fNOa6K>8j8>5i@1 z$xX0SXH9EyVvaWF0Zhg7YgV(n)r5dt>;?6O+aUz+{@-H}xqPP01+8E&7g}A!yBMP9 zTtkW4MJ@FSWj0~#GbK?`339mu9xFTn_JWK9cAaZ0#Vc!^Sjm1xABV5D?zFXhkCN78 z{}SvpF@V!L$|Fy#=95f`ZvJ#hj5ggVLO6rV+RR0C)%C5W^nNB$-6k8Dm$&wApPcx3 z@g3aci;o5xNk4R?A`K@@2sboMAcOPLMH2Fp$+zmY8xk&CAD3=*8NPE^T3YJ$Mb;OX zjSB$YqW<~YU!Nvzkb{$MGW)z!yOdE-rx|M9iTd8ybm7)F44w@y+pVmc!3=vx#*Hl` zk;XQlSU6;t**Je+X=vzKv0D=BU%(TFn=rf{LIeSU0aqr9IZDS3L}wnO+wW0h!j`EG zQm6j37f2@b*sm=P&oU#he#BF?hX5iglP*_=+KOsWx{YM@biP!rD8Eb{^YHiPI1z>h z9*4cqjI0hJ6KnQ&+GwI7Ih~BB5F;Gn+`Iin9xU42z~#}eugDzC7INzrZQ#>olxOg5lZsn zFQ7EqV9%EF>lN8^py`Y0@5$u4Mz7pf4b{2fHiYfR+yH6B+z;#lU_8lUP3igNhca$a z@io$J%w8K$q_M)uwu|rM#kVOXA#dXtjHzj`ds=jHgnyZ9JnsrDS;%CONZ!SrB=6kq z#*O0ecHb9)-E#(z=l@G2|6<_kWmDdiq;nxDJLMLu?lJ2YhO$`DOZvJvAj=yUv zz*2#g*6m{sMX3!Cuq4PlQXs8u9iRxy%l^o^Ug}$RA2bpq9T3w1bKBMK%b&ItxHF~M zeBSM|sPw}}l;Se-2i>Y)U*AU~LrVWAIhDCxTSYago1`}*p+zin@k1zT5)YoD+S%sZ zh|K0CJH3lf2Ybd`E1f;>V{VGZFRV+DAJ$qJ71`gC!`JzUH0I=Agk}HM>#tLR6)no} z@|O7ScRVp#eS~3 zz(KFeCyzB3W43mE@J=?#P}noJo}odHwn;QU<+CDjTqjXK+BX>(_I{KQi}PH6g)w8t z(cy%aBctR4Pb$HdK~UQvNoQIBPeH7-+{i&E9jL<)Ry2eIKDEk_4cYItLKSdoo54BAW4THrXZF;W=o8$ zi*}*hKF`4_F4!c|svzCB&9x6+3&XyF*E8v@(N$xi!a2KxcTkVJxM#fQ!10GtuU|$x z5W^46Yxv2-#e>d=yg9%E~_q)@jf{ z!H8A1nF>jO_Nsw;+qvc&63(atnD>% zxSAogLUcLLq2Qj|oz3CV!(%~1*TO@>7h8ols32C&ykCF#u4Al7G#XUBeP-X8E!hO# zf}YrnoEXW|X7*G+o-=oh@U8u@RGO>kRvcHJz4VpgOoBUD>Q>&1JfgUz=&K_ct4h*} zJ{Fn0Rq4Dyd9L;vAQmzQA5III|qc-ZPO63h^p^=WCsQcKJa)obre*Vq*c{hW2K1p)w*`7 zVSRA)y$ASb;|C+o6t0pS$`|`THh$UTQTM*6+Vj0kkbU9UmB#wp+mWDEI$O^pMhEVf zU)j`U3=+eVIh*){uK0O!9R10n_*{O9J)^42Xhkp8m5pZ2STt>)HApbydZUDJP} zXOZyXg)qX$%rT_q26~9pjrulP=P;Y(z(tD9oN3DAq;qJS;IH!)3EI@|1-8!lSHjkh zQnQ?g&8vZU^1+QO_?2@=?eR)*@|%H!9|BVL19U3di(sX)Ocg#t5uQzj)m70xE!uYa zY|Op?(m0VluBZqLOLfTjQBYhQ5tpQ2<^AGr)cl#>p=5{qPKZE1VYiB{r z(q;@QzX?kmnR>AdqK5~8NSH!Ht$++Y!Iqx#?U#LR)H3RfCd&pXZFt|=d_&Iyzk*b3l0 zo_jo!&9DyzFqD_gWE;-p)bT33)xU?$-g)47qRJR(PQ+>i!9ojfqn7)T|zg&Y6zQAvy^b zAPzfRg{l5;G+egS+qBHcRTXnuE8h9y1_|H$K8epo?pkwdMID(~b18Rl{i%JM|5C#j z+kvHGCBtR7mo_!_{KIW_U4$IOu$_DU~u}-QKw&H zNLLkRay2zTQ0$|obRk-l0Zpwj42c~$of3G2cJO?g_D-^8wzqj{D5CS4;iFGb!Ewg& zAk_!y7-BVuvD#o64??NmIAIYLH=%C0!aE>&?v8<~!`tXL!|{;RDVmH5->9I!;7B%f zuxK|DaH?7L*~wyi$qe1seCOi@wikm@zCh+0=wyH28z0R+!pm~EwCJq4;y6;Ga6pZo zXzR4)?Ohl7ww@jeeL6QBh>Q$}z@7*RfM}sqb(02Y_j5ySND>b&KPd@kB!!+B8uLI8 zr6y2wdHi1z_kU&do##tB&I_akFqc5DWt1Z=W(r5d0Vna;xmlDOUZ0{djoJQuD=`eq z(XZRvm^pYcP5QWHOCT;m-Z)vDTsU9<3w}wVui10G#dku1oz2GqBD`d0M-AIUxFl1h z{OoLboMRpiW;b@544KZ&E8y5q9p5-Iaaxm`XeetH{JgNX8D$-Ax=^son1PlmcOFGK>;jya>V zC$9_Z2%ADSx)UU{59nijM-u-7#YJaR&V{Xp<)!R9=HQ>@Uyrmjru&$p?GVq6`s>1I zCZA%`^^hvIziDH#M2b6*Nu-zyY#Q(wmDPTAPHL()zTZ;5gTS^@V)Wg^3wTv9m^K6EZyQ(kmIHbw1b zmk#z>3sA8@gN11S`8DdS?sKcywOzh=dA7h_)PB8A%fR29oRlLK`;!85 z{5Cx|+pW)-Masdo)gDc5lI;OLyrx#baoImyLR}y+`)e2Nc%OUmUknX6ZWmMcivhdm z4@V`!_l$ZCg~*E51FXIHeMGjVTvoOw2ZW^smT;@;i63xJis8tf zo>hpx#t{+9FpH+4@UFF}MCoc8f_l7l6|(dOFP z*dt3}oos#HWm8?Xb+q&6sn)H4+8Eq6AV}(#O!*5Bl50lHdq+n%TX?wK!HK!|M8C+c zv?yews2^5{tnzI7Xi7H5;N0}gX*)M&^PN{l(o}_CtO>IlvPR9f7DsEMzUMM<*>@%1 zjvo6*Hhh1dh}MS4Cbj`DF!&}EWGY_aN4}V$_GaWYLF>`Uz|=DW{h~HAD-L#B;F{RG9cAw zIwKd|x2QIA_q1Ts!{Oy$0P0unLn_tFTZsK%!1aXm!#R#=0WIAQxthL8_p7Npsr2*3 z_U{u~stY&eAGbjZC!H|sK!fM$-3On}-y7gvSe*xJf5{J4w**bPvB{q(D zk56}NJpvff-=DW&SN{=}EcX=PaPUO&DtHq8lTB^B-xlJ#IeP0p^^DJ>B&C$tC2;y~ za3lV+4(vL6{tiDhxD9^J_7`wY&dcdCRUTfafARL^lJgJ$Vu}0hcUpQ#x}sHbN=jN5 zZL9L6_f&n-?hzY3*&hMG<|W8L`o%zBTO7V+?s(M8Io~U0nSPTjPsyuA z7DkCqpiCY_v#Z^K9zKgDLFfO3W%8qhaYcqlh@|@7+cFi#-t{2eVD)b2T5clq@{Y-V zR#)Q;D@1NJCiP1ala8wlFIYU~53V99eLg48&sto=cKH{sWDDkk`i zZx_|qb2M1OvR8fh(v240*qJ9T0gQI8>w;VH*I%=)zR4R5a^`*B_HL(oEy=k z`$=#nm{>0!OU1(-xCE6@j?V4bt(z4UDK)ax!GfL$NsN;es(Rg?iV`FnDGw-1I>qRx zU7(%2-bm+gM^|m5ogh7dHD-vm()StPw!mgc?Yn7E)eWkv)&e>+towob#IneJzxvGO zHYjY=X+a`p;kgk?P?k_Tsy4Z?EeDriQ*D_o{?&yYY5Vle*o@7|?mjZ8Yad41 zmuw5qxPEth4)!%2fav-t&fOzJAW3bigt& zR3m0jkzOzs8mxhb;(wIjAg2O{znyED3x+8CMJv^~VVnZQ0SpTwzh=0kvnjVZimvVx z;nfYSp)#t-zW~}b)M4X{>z^bL+0SXE}vGU z=N=bu$dv`jgcZ1ZzI5B8Lj9obqI` z{}4TwUaE_Yev*aEPYe$?X7xS6UtOMa*VO(WL&JaXo$B<*hLkJXOoMYJzbtk%q&7l6R4fU*G5K=)h($xZ<;A)ElOd|$C5OHF<6Tl(fE}yF)@d0R<5s=2 z{JNc#(A`U~08WV=KkH;EY8O~hPzv}v&QmN7E-wPP{aYs**g9qq>-p8wzUqCd-=Uhu zuYSAp_SIYfIcb|$paiBQFD&EMYMAP>AAkq7|Al%Zg((6%8gAIlKB)arx6sZ3Qa6&7 zIXhSs0cLfEZ;}fxhIs(5KN4&`8hE^=kXLoHKdq}edIMDVn%y!4snueQD%rLRULYRn z;tQGh+<~vNXZG^(g|0^)DonwIvKEuyJ`NW7Ioj5Kb+F0G=>o?l+^%07p0@$-$mPqj zxlny^mSl);e4U3B=c&sQ82Z{cP5nfYR!|~y|M|T^3?oUzWAY-|zGnFAL!AX^@b9E& zx4}kgC8b4WF^VJ;O=NBHmY?wKF~gqxBVi$6EP{$;ENn@X4jS>=gq7(ijID5{u@%~; zhTxkadQR}*5FIfvAl@tI{cVc{3Z%q;`{LtH%I~;TDvGP&*lUi$iblakTTQ+_O6bSU zQT5~|JSN(oe*ros1UfY3RITx{Ht{sAd)L-|>^3Zsg?mq&MWcKrPo&%Ch$*@3uvr@0 zOxA^F^Sx%uTnd^s7u`4}C)hZW*l5*6ZK3|X?093A(7g+x`pyd`61t4k`nizoYOX?e zoHZCSj=k`O<9$+nZg|Dd#7+z*qPRU@n5`wMg7x84iG z&s9VZnOt^ud>!dRYPif}d!W9;i(lA-$?5e(wC4^IDVb$A|M33debg}}5O&j|kdEQI z>G##X6CvnNMcIA_YSST)-Q^6sqNG(Wp3w*-)4G2j(tqQ8?IV@*>aL%W+0vvRr>5I& zGrNo4V%z&M>XwVrry>?%<-{E0b|u`yNB_qt9J@5`5PZGM10-1-v-_B)HRH>%JSnWS zjNd9a&)-2L@7`grSz_?+n|%tCQ@tUK(~a(asO;xCz65=st5Oa4Cq7ixTj+`>)}3^uC4x+ym;M4$D&64^Q%T4tVf=_2M#%8+_FhJN z+Q$9|UgwU%PRQ2rCje)%2#iY>Fnc3AC3Lzj)4^J=$GvCl1?r$5dWEuj%getFXA zjd@3B=#9tkBZ-3uD=xc05PGsIkU(x39JW=`RKMkE8oS^~6H4Xq8gaP7iNqu=thF!F z>6(Mq3rjrBkeGb+(w8s8yX1VSa{YuTnChm~AoOE3DVs~MfPL?jCky`zJc(Epz8dH2 zjAeRi+{<;ub?%Xx0l9%II0cBZvEwf5Xa9#z3#Mg?OgWM_{ z6rw_YV>$Fhzc*ASHuk~#*V`m={PKlp&arD1KQy@t#kv!&xp$jsqYKicIJ0d~p_Eun zP5ld?dSQ(eH;kWwYU2-6D_u*Jlv|#=YQzt#;-e*OHy2C!eU=uHucFo zRaZ&d_nQy8KKd+#rL&0HR|D~oxoVdiMI&M7Q~NvfyHIW*L$}4aLA0Pp(O}W1r3Fp0 z+!Z3O(KL)vXUSmtQe7qIHqr7j^i0n0b4VgK|E2ykCp*=Uv-@y2C9G0dtg8xRquSrN zzQeessDIt*drNabxu*bwmJ#v;-V)C{1&M6W37kND<2DP!;!~#K<)%J~vi2!QT#5DH za~xpUYRUAbgn~J^$2}8%?Yd7Y5D?C?^tMxr2O9eA*Z@i38i@?Ua#n+@ip|m6A;AgA&ozAR@@O^b!cZVuI{*s$l z(K!XTdn&#+@1Nc}9Vd-DT!f3^SvoV_XdA4!(_eTt+vvEG#$_CM9VC?qRMv^oe%4ME znG?G22>ZHrHDjt0wpM!|NQ>Tu0#o%J+s~s|(k&(fV0rY2H2gCXvgXT)0L%L+iHB}a zv<|J&mpfGv+k`!S5rWW$T7>+K{frV&k%#qWf%>}Sd+6oc%(HL!v2lU>Qn7Z3rWqvw zy#zQ6VZ3TTB~7I`eI-E8uF{#izPrL2jjx=z-(FmIcxy;I@E4H(LxcZ9)S(5%aTUqK zjA}dJbc#v!7be`@r~xD4zK1*TRUr6gVlwh4avsKn7WPPgSgB7@LEsN8%7jQGvHk>~ zxupLEc#Zu9R2%&TtfZ;C(+~wc~FU62F*Fq1F_uDa; zd6IL-&@yD$R>nuD;YOahNjvC1l}x(h+Gt$uHYz4AY~pZzVv}^~EYJvD%Fyf^)4Imm z#PoyM%Xnx|0SQwZ{rt2fPVQHaSF~1f;5`qrg!|cyI~&-G!L;7Pt`811-J!SQ?3@jD zI=KrzCp_$y7k>ep=BIxFvmR0q7doLc!jZnEf)sxBL)Z)@wYmGU#=fa;DD=Po+3nZWCgqs-M zpp7lwReD`?%YS=+N&bY*S&PH+k$Ct*YyX}En?#C*_a$AGr&58Y_pD)W(WtxU55?e| z1l$K@bSiTV#ez;?T9)pRGYq}KQdKYI7o@yIv?vsoxnJL&D0Uokp6tgyJH9&S*MMGyhlhT(P90(E=D1T~VYmC*J@L>> zo%^8v&j*GQaYl1esf0eeNz)L<%gK$8OK>Y?*f}x;z3UlV@msxGxAQa-m!a1_lOgOk zys;=OE6RNJo8g9cU+KkIqej@QN@MUU21+ytu;)V!2zDEJGm1=GFjdo$Y@YZCQ$uqt zI&dCL;Pj0rd&SQp_0My}#84IrJ2=U*z6+t8?YWUS33oY;iVuKri+nEr-#ha5A4d$e zahar#H~q{W_-MWxpu+)J2WaQXc|7c$9zcfAC2{g)>FSaGL)sa1I!egpkvt7YEV{)hli+#ixghKkMg*q2rOAG zN|4MTqHRqcS~QK8$H8_9>=K?1*Qj{EFk4#mq%jf51zf=7Tr_H5)#(84AYKqPv6xyiLUGTUnd>Vq50( z8nM}?^%dRFCRg0{?{UB=P|f-g-PA_4@Gb4telt1oWLo6xkF#-<7{66W9Jc${}HJ#(9Y!asXU*`n7b531(fGiY+QiiM5z_LVL2bQ)lSgoF$@ zqLK8kf$lx6xR;nNPxMD~cRx3Ywd%XmzDWg!cRD5cPpXL?(39^IctVrmZrJx9O(GMq z*v+!Z&N*j#hu%V;vGH|3BfPMSvX>=>^h~BiI8o$1&u$jkT`UQB5UY>C(ae%L()PI1(|GkR&uZ{ReGAiCjeUpnn z`F)N{o0)I9id&Jm!WpSZeWf9tYi_j7m%)u~)8qLJ)dR7?vooUo|Ms;(uXoG9+${!5 zU&`~HlHPCqKDvmi*@(AiT%D^QVVovQ2>eX%Wl*bglRr7~q*dLZ7SR_^-K5jCuXUu= z&mNQL!MQHP)9t(~eF=1sOj#npL8@vh5(iV@>3#FYu(e2}MO|h?otwC;xt% zH1Yo000rmQ;~k%k%&p*Kio1Qh=*$@?C2EA6E9@l~DLp!#d??8)YgUv&NC+mJxPa_G zdZwW3-t%-{M_U{>P~2o-)uUyXCzfKb{jzo%KRk4q4KUeYWsm%R>Dr_u7T2Jmu#l0r z_Y^32Ik%+0x&r zVGdY;b6EIiQZqiS&rJ|fDWnoFnHl$I`pYT21pD+lelMZ!DzW1-)dV_j%K z&~?@v4mtZ=0qnbcosp?_)<|iITt~Rnr{T!p*ox%5UbDZ;(}rGsaKL@m5KLG|kwxu1 z6efJ}aDAoraGuSD8;Rh!0D1%FpBdOKQ-?Z?FWsdH|NFLof_Pmq4UVnF4H7f`o6uU2b~;KVO%`R3eHl~SiG%xp=|oytX+hC2XT%uTE? zm#=Kf$~9O;H!506&{YM?cS;C{2CY^vD?E1f8#%K=NQjWd|6N)J#w1AW9KDK zz_$psz((!Fbt5*LrK#Z`;J*MVqj4$fxRrlBm;+L`&FHP~w-9nG$D*oVfz<5!^G!{+ zF-yzhtb6cwcvWF_PEM(Q;yG#gewt8Wj+RVB_u2Y%d^hiBpcK(AJ3t<+nGpja4#BR)+=yKvx4^s)JWLZ>op zP6eihsZ%WcF-DSq0W-VI;c3Hv%+O+nMRy9~^McC8>W<;moXHsAeohbUT&I>kxaD&i zLB|D$CyC4PF=jXM8Ob8X%T;3DGTJxwWg0U>pwA6=7QCw~jV-dq(!S^Cu8G?~VEgKj z*V>y~=+qxm=GDIYcaB9($MGSIqY)4%LDt4r2osgGTmaidFt)dt9P1~zzR%~ri$yLK z{`!2m*w#J}oBNksjaSRa2MqIuLs^oRies87x^$$vt<{nbtku%etZtf5ARC?_t92_} zozstiP2zi{0+!c_0&YVaEM^0s^{5R+yLydxe@el>va6+@OE_INMb-rumd~KN`|yyK z-Zp|i&&C%Wh0@oD!Q4<-KJ#Z{6^xI(!eB<*0SrO&OD20P-Ana0b5y97?mHIi5Wiaa zx0#@L!^^NG<&^>c-<)HDA1@y1h?}^=Ov0@Z}yG~ zsIR7Ef=}|DvvA;is8nbA-pBl6aNuipaZ@8@5b;gDCIP1z@Bnr zYTR%KhDp#Ed<78z%*GDxJ>L6o7ta6jt%bf1c)1Bn(;gBtN85)o8b8Ke+{I!aR{Oai z9}XF(W1%_?9mh-CJ@Bhnp4~k^Siy?R*ib#-Rews!l%zCO16wqDYvwjz*D6F{Kx*No zJHc67Iq>TeI9oZfmR8EH>|85CsP9>c43nR3{+06iov#y(a2nZQ2OVRAi2!41Iyg_7 zZ@yi{cJO7Cs{lwgNLvMM9KCMo4iAq1HBcF$AzpB0zB?P~u#vaJH`5&W9M`ymxn6}9 zY@kmecA;d-O(^6#fBJIy;&3p3#mfcC)3oElBc2C;RcEu<(`US6mLptn5qbM7(3rlt z_F|JtaBVDZ%X!>apmmO}ZKfd=8PcFTBZSV?9T^kX@ilwF%-;F}HD-Fou!hzs!F~>1 zL4Yjj=)Rg752lM)e=FTuNB(JI-rU}1Z+U}&eZ6v>fBmGqepRjHCPZ#fXG-lr4E_Wm zQ}|SnMsWQJqdR9y+)>5wnW3~RRkqtSm1zF8%ZjdFJtR&p?rm~RlDyVsn)32ieSek{ z!V`D^a5FaMSLXkItfe_LxSSHEuo2reg7$qCLTmT{4{Bak-UNBXH~-AGlxIA>&)jzR zExG6rOrw80xHXn~kG873Pa!&+D$O{q@KFlMbbC>rpV5^tEp`}*o@{wvB%uWl(iW{~&KiYuq z`2atap8-pq^^UG)Z(=MixCj=i>KD;aH*R@)ONNaocZ;222ljv-#f9=%C59lEIYY!> z02eOm+PSaFo1DGvcj}Bw$)hP9oj>#DF+>2az%Llh7|mCe)SC5clv65Cpbo7wDovJJ z=>27HO2|o?FV_f5|1C8?w8Ln|?1< z)k{9KlNw~^iTG=0eK4tl#bTA^On5}j(9~#a$V@;>9F4@TU=0ThQG9_2zbLXnwP)bw z6BYT6X?wc-McWQzT+x(N>XF~NAYBRk00(<3;EyM+XpJ7AE2GJi-_Ig$h#SO+Fe3GUs<>KaoI@DM(RYrmH`AfSoJOjxFWUhqm> zbN$7!R`-Xgvk0wBipzEU$Fw`!QfJ!XtBh0px03uVTmG%aoO4vli#wie9|S%Rj#6Z6 zm{7m=l*C)mxz|{kzq~%k#asMzDw=UvlyQ#r&`ZWoI(Xh8uW;Q~4SBlpY0aD-ceucv z?(!#X*B-|Hn*F_KHT~ksgXWv8McT_@AHi{#OrwL#XNKA>IZ0LjTC^{LUTeN$Jpe%l zUkOs|AZLk^RE%4M#E`XK3CNfX)o4VeYZW4uHT-4Ahj-A9XM3}NpEE<6ed%3(34Sb? zX5G*0z}=mJ+l8|B@wz*%dN=;>|-AZ_G5v@+X&97Qbi zE+mrwfc+gWj;wcK9Iz^lp-#yx=xj7_eo$KaTfXn>b;oqYgQ*%%1(8fSjr z1Y{_cW-@8YEE`;i#bF8;5}{=#o>h%jiqh}>c*pLcLQ-lY;Ul`4M)oT`gK~_(Z%WD6 zi;D?}^!I$~2k4ot;FO`WJ`_-q+ey>R1?dgX=5AhmrI{VX94ju3chfVbsRW7(;z^3d zaRe&PCuql&U z%gjGh*Ax5iQEg|UMbQAyeS;+FE0vw>kXYkul-ijB)f0=yyY-|eBYKlJfe|e~le@Sv z>r&f3hu2`z##=nOdh_czu{6ioYa&CbjLw;(Fmc~9%MYieEKCC@kGV45^8!C994YFp zUuMi@#jCqQ-l(ZDdXcfq=_rb#>ZHM&lnJIi*x%%CkbL^6leqQku4cubw^hz~-3KF) zPP&>rRLx?=y~5~GKjptuk_K+ zo}dyc6Ci_7@Pfpyf9!fo%wU>AfU(>KG>x{P8*get2@7Aclyt(dwCC0tzM~ z8Z=b9ed3mRKC7=0&c1*uzC&g6&l(2JI*yQpWx^c+__0gT)^5xYxs@8H5hemD=FSr$ z`k8-a;og+7W82E_uicm8As@!nJBDLid>=rK2B)Q<+zAn$6qR);kDq)CaX)N-ZcHRV>w z-Suf2&cqsOSJXb&ytcQXn6tF1r!v-6D^<~T!hTAP9s#5V~7FUY42i7F|+zQ<7Vzyi{ns81}D#knVdCYiRzO1Mb|B)FC;Vs$< zJ=U(wf93}DQ}L#a@8X-y+NEk05NmC*K|1{4$bP_0!o%1??!GA7mab%%iAc0?L#)~@ zW$7B4hHtld33O2m4iy{)U&5GE^^gq~Lq4yrILM)&7dTjrMU<)=D6x6r4G#>e>8 zcgC;az6^LILl?a3geK6%PU_l$brq@QS;d`v+PQIx*HgK2i=$DuwjXqr0;|y4m=VGJ zAlCfS*ok)5Gy#ptIbR&4c*Vry;?b79$rU=5)ZMz66IjB;hZ(v3uFW~kmT#f8iy!0v zgp2(L|CNc4NVPK{sRnT?R%hQXD7JYjk)}ourBOa)nxvQG4pM}l0G0FwkNm^*n6mBC$c@8ASJwFZ_)`NP zPqsw|nyHgl-23tKx{s05E?LIRgx%k#czX8RWOzH5RssQ<&sAGr^5GK}IC@Zl7QOYh zGhkNDh{ED8iq-4eFeM94%#|&O}N%?S{;7jlyP9BdW zNA~myPb*2G{f+ppnLV5WgSn)YzIQ0@d)&DUG2No1NC+9+LrKRYCxQ64PVA>7vD^KQ z3N`npgWwO&pV1*i2CG1%&q;MsA?CBE^C&SLnmxb5uz&q6^;F%q%qcPBNA8+|t9_G( zR9{Uy+)x*2QB<6=xa|cIima*OZX0t4@)0-FC_VqVLwMRzq(aO8;zjbo`$+(OJxL;V z?kF;T%Q&amoA9I8#Mll%%`u)*sCN!KjLAdgE|TUSRAd$5HN1uP@Apnm-n29FquIj)s?G{sIiL-TSLC#B*0P(quP( zA92;!cu-T?*o!ML;KB%(pcy6?DRcqeJAxW5g#+}`pJB9|FWx?GxHekD#bQ|x_E!+i zK14T`gx6i96)?Y^PUeQ!ixO&B8Eok6IQV7Nu55^wJ1WU*)P&?bF>D6%{;#qN_~=-QB;do*#FR-EZp*#*7hB46 zVW;26?lI2-grys?Q}I?J+7Bj0n{OMFL4vEyH~&ut?SE32oIxs`-I}9Z6~I?4QXF+| zGh|~RQw-_Cf->_(VFP?yXT<;4-ggEy*>>xO7Z8;qiXhSz5S89Lh=6oZij+{LhCt}O zqkw{R1&Pw734|6xZ_<0O34~q(A(YUIJMS)M@7dqXcjo*#W#;^OW-`w_Gr9BJS@&A& zy4H0`HpFRpL}Jly+6220jWVc(9;ZRlq)Ix{iUkZ7oXg%Qcc0B_gA^ktelmAN}JWMW1d3xY9o7fgd4krUBwb%er$AfJCX;qLE{h1 zq2EVIZBHnBE7Zymv)g9I1~x5HCJg5$Ij!B2m346*itiuxmRU#DlKUntFSb|kl}M#- z$+H(A4AJf}8d>05U5Dy^c@ZPK%pHollCQd*k8*gVX{sVIn^MvkDV8GqlffSh5~VeU zYMhi~kz|siZH9M=+9KM6`9L=z!-#yyL-p7R7^yKilZ4IH(_%duJra68)qi?4J?#B>+tMU6c6eZ00@Ny9sWq*Li&g-xex15y~ zXW|Lq*X@Wh8O?Ljeg{#h!(ZoqR)sAqsof07CeliA4Lz4)q+i}a^ zVSyu}?YaDZY{sCtq5e*FJ(rbDnQQjdiJ7XilHj4A zG!v6gG#qW;8MWZouWGI(jD5z~f^B>msk9-hvFL#$9j$Q}HE7=SP=&s|F{(y&-*FBx zi59A#^3yJHDM)-p?pud4qL&cwkH~I_8?X+4ee_H%v2$_1Alye^I+iv`{Wp`T?5BJc$_VX#zFvR)9=+T$)E538E-d20)VPhyJTbyRQJ2`8u#`)A`@2%Re zIo>!-^Jfc@Aw-H455ZXOT#9}xmk4f^<##7G*Xoo@NL;k}d-)yZS3VTtW|!ik`P`SD z26WJ9pXLUr@U)l$4 zn*rAOlwafZ?4w!%9!}R!%e&OvYpfHatL?bU>tnCbu$tHwhv%{DY)z@HgYgQp|31m; zANnNctT&;~?$Xb9-wrx%lU6DOELxpu1~uI4T>v;(vQx$e*kk{j#8&HAZG#!8Vy=-16S(+9V+AyaX3R_jjJ!(mI9KCK49|P z#KvLE4FQ@4C{@JXkhIpac_!v`@WbNk)WmhKmG&}cO+XBh(n>86qZ4sd`P_X7FM zvLtl?0AM30mO0)}bhXR6CRBu8$|Qbv&N6mf?gk34z6gSq6>^>SzEaswrikK3Ai17Ouwab`jmhdCXz(`M-ri=KwJN7Z)=>Y0I27EY!zvL&k0vA ztqC~WaMyviH2~!<8ydWOci|q(5>R)HMy{F8mg6epw^!GXavrycU*a0FK#NV8){X* zyvXyZa;qFz5E2o}Npdx#z_Nt3-bK00gx|#NaXd7RK8lK1c$S7A@JhK|8YOW0dEe!# z_#1irhJ&s>;ddbG*M3PT((V<-b-K-t^?pLxx&8bWiK`YFnje+yU`~6)LjXHWp2U8A zy8#VI+Va*hj9WuU?f9Rlhmb3~e&}Q)8*L9M8OIRpF?>iq(2UK(>O;JdJ^j2T1jbBS zDgo>_?zBxog-`ndkh}U`t>+A&S+4V2Z^#NTuyprS1*<7(bFELBC$90&JHeMdFLub_ zdRj~{mz8^`b;PwSKyNs^CQQ|G%IvP1KKOOAyLc&&_9fB!YlU!0WkwcL?81!`O(e)B!U*#ePIMW3k&g)U2L zZ9MPL9p*aGqvElYpA&1oU$tdDJ(|Ckr~F0>xOo&^ME)h~Cjf^Z<5ybT4OV}tO@614 z0xp9Jz11H`jF~%fmUyqY`2R|gI*GSXVE;k3dg{-Hy7_ngPOjn=;eDS$^_id3Ip)-g z@HhkWBl%?SJ4@s~{oHJy4*HI}85vABYIhjOia1q(bo^%1Dtf0wnKLBq_iEI)AP?x< zR+za>DYafLvdDxwxgG47A461x%YijYrwPCP)yKe==;R8F$t=UV8*h-JY&MpCo%tDS z8l-do=g)Ao8YM4};JDt4uFm@c<${Ujl+Y>ozoN}S3I91)N2_t#X~G)qMV6a3KKGF1 z%d2ndH@W=PD+C$+k7*STc7v6HFFyryUWvXvq8+c+D7mj|XnWfD2cQ82WmyGQYf|!N zq=))&4xB&%oWq}DS&d1|NT_d0zu#BRJGYy}1RhcsR8DJ8t%?97iAtHgddF-#V@jm1Lo~OJW9P4!CRTiPN&4$|Cta2gtEoh7D)qZ*mBh)@wZysl zm~d?f`pnwdrZc+OVdo1hm(%s_Gux|3(|+UZIM>C%dTE>Lw)PcVzlaU%zB*OXM&Y;8 zR5yzx6A+U;o#V_LZjo=EKs(D5S)Qy7)}U4F&IMVfm=Sz3O;q+vGYhX7g2X(>Bfnpl zVi4+sXHw9NI1>{PIK~&pByz1^sftC-_nQ(chPgTH7NdLeV+?hG@q<+;0gdfU}v-HtosnXV@8ArioVyozv>AB(bcle1f%P zi){^W_Ft_(`muput0J!s5X;N`CXoQL z#DiQK;PI>1nyX`jr=hUjCnNwfp7jB zp8r4p=ruh68BZP)OF0DRH0V~NI%p?$(!!8;TORx+K9lhW;JEXK%)+)C>pS`ICmiU2 z)sN_0zx|YvT#}kd#sq-2l)eh{zDWpngotzVDwh@i(E_e8Zd8s6p-VEHb$W|bTxV3p z+*V!Wzs$>WIh%I>7+MczVT@m)(csPKbcXi}%&ClwsgP%gqw5?Puf0$?|ETl9>j7hy zwPaRaM!(poJ(69|5cmVI{ly+(Kr@fPgO+n9N5y_aI2}F;aLWyb6j1% z;iCXX7`6+te|JUB~I7zlmNHtJs z01EB~T_GQxDELtlkpah|J_SRMn4A&h@LaOtU*uMFF&{$5r_|K|y2CRv4fAv2kuAx! zaCyipDg3^!XKoj}z7y>ptNioG6=p%I9kgsYYHk;aYjjPlasG4``-K`Kom={P%YCC= zs6ukenDeggsu*^oWmq6#j@nBtXtdP2D#&}PE@-@=+Z=oWpmb$5Qklm0 zRErFeX8|~50=C80KFHil!E#GamCsnTE9aKW(cNAhD|q9B`ueK)T5?5bVE(;nRczPb z&K)j6*k|**{&zj9tc=B~ZFBq%OqYGc;&RFl((vzIp4s!E-R(2o{V03F;z**hMyKzP z!wM=??VxQ%2w?K=HafaK(TT0@MK2MV)QYIzQBbV~2HbNT&?d>5SW{p0#Avg%ltc-6p zC!9B1AY?KuP=3)6EYSsdm0y+E^T|68nCS0Mu2betWkk17C!ZaBBxL^iyCOcME5K;2Nl zeBJ1OBSesTdwpGU^%zJgdxO_q9B>hV`hkl}4kzjv{CidTh4fU31O_%B z>$ZIS`Ch3EHMN2j^Jg*yPM@ zub5cG`nEG7zYc+sitZcNKh5z#QVSsjBj9)DxyxmVlX+PBWhP3yJ}PZ~I}2fg;g3j~c-yE*Auz5dIFvRf z5g8f$ur+zcRT|bp$ld7~`NaBAE=pTzA@xq1HhnPaL}emg;;$kq_L_@oCm9T_MmL>G z-HVHd%GOTiWhyPb9@Ix#A$;UafIMXV`G-GFn#NV9uYifzzoI8{lhv5yiTnE7zGdD~|qIKNtSd{XYD zP_k)$mzN--uJ?uw(1?(jk?oloS?SCYj3u)KycHcQcwhYZei~ifTaN@5r}k34i(CvA zE2>H8;4{%L$ydvPb|+=w#Ce0_Ti;pFg-N=zvkSk*I-AX9olPG7yb*5u?PMn9U~xe( zTn!AYN8Xeg0Ml1l5&X6JC#^^{OPx`<&knh52iR5ZgWqs)Jnj|OFvKJVu%uQ5BRN{%^| zZ})^+?$-9LXb8Xec?|WrXYKKEr&rvb>&kZyKnM9K(>JVB*d&4h26kD9T!_INyc_nu zd=(`7OPs9ciR{nVE^L6>5vh(D$$m}`kN(8eAh7d$veIvcZ9@GiYQb`mI-Z`B*j+Q> z`GROO$lwR&IKqgH$U+xA!z{ivcju({ z%V?Q(%7q$jEol8!#kT%A(CL3WyoYzt= zn?^8T9s*HtPzRIxp+}m3Rf9FFP9eVY*GCB!n5}ih>(^5T!$#dY(t))o zHonJ()k9R)H`yA6T^GgVqAGD`MgD&P*;?17ePNAarHFUiT#F^4~?;7*FfxdKNr+#rK?u5dnxTNMv4pUqz;{@{fAzxH0 zT8d>7k~k(Rl?|Vjqi+gai<@Y$OU8&P7$g|;^NLJqM075AX)zn&nE2AVlXDUvt;{{u z3r0*P+EY7?+k;wEtkdu>GaueW2bkx5+u7H1W|vU$oV!uw+#WgTz|xRa-tzEr{85Li znGhW}cBt<;#30fQQj&B>{PUarwbnSGyEpROU0yWP_odDB=i;f1LdZtm(S(uAyHR1&7Dk(9k$Qir3lB+PUyteV(>CbMDFEvpIXdyH0+Q2yqE` zIKesRCB7{+WKd)J>bA=fL|=Hx<3b8Qd|mYiU}un(B*`C}zT2YpBpVJw(S6=^v?3dW zl^qrqtt0KVdze|-(e5*-Wd_yNjZj56E|Oo1*1({O7i@rZ|_>At($OKvbBV=oZ)t;N-|y zTS8v?0EOBJG+hl@-ke?nO?R&7Z<;Q0(T4iv{K;~czzsM=hcFz(ZQo6NZ4EL!ebsQK zukr3w=(=OO1qZ7-6Mdd$+?8qtO(*4e7{~su|Its6OdaL}Bqi9&Bb18gUNuS$08xRp zxw{S!(~rk!V0}|09Xhe`UxqN;ycGJb^)CVZJh7#u9imz3HM6;^;U5FvwAh>HhfHSf z^eG3^gdcPaU|-?$9t4|+ z%f5esCzrEkWF+W6iN-SCfI9)s*bbYPi7$kXEH3#%CM*2eO}5##y45O?gJ#QTd8fAP z*tdTGLix>0@r3c4AtXd6aX(dJhs^zL=imL@zX=Qf=P#@b^{T~NPx8|n7t`Y6UhTfZ zvcD5&zPcTMZZN_UxtSjX9u(M-0=`voIt)rFop$W)2)5DrbiJBXSKzI>k7BMt`4Fkv O{9myYf_TQC*?$37`>aL) literal 0 HcmV?d00001 diff --git a/references.bib b/references.bib index eb0eb73..ba48392 100644 --- a/references.bib +++ b/references.bib @@ -1,58 +1,283 @@ -@inproceedings{achibet2017flexifingers, - title = {{{FlexiFingers}}: {{Multi-finger}} Interaction in {{VR}} Combining Passive Haptics and Pseudo-Haptics}, - shorttitle = {{{FlexiFingers}}}, - booktitle = {{{IEEE Symp}}. {{3D User Interfaces}}}, - author = {Achibet, Merwan and Le Gouis, Benoit and Marchal, Maud and Leziart, Pierre-Alexandre and Argelaguet, Ferran and Girard, Adrien and Lecuyer, Anatole and Kajimoto, Hiroyuki}, +@article{maisto2017evaluation, + title = {Evaluation of {{Wearable Haptic Systems}} for the {{Fingers}} in {{Augmented Reality Applications}}}, + author = {Maisto, Maurizio and Pacchierotti, Claudio and Chinello, Francesco and Salvietti, Gionata and De Luca, Alessandro and Prattichizzo, Domenico}, date = {2017}, - pages = {103--106}, - doi = {10/gpp2pn} -} - -@article{ackerley2014touch, - title = {Touch Perceptions across Skin Sites: Differences between Sensitivity, Direction Discrimination and Pleasantness}, - shorttitle = {Touch Perceptions across Skin Sites}, - author = {Ackerley, Rochelle and Carlsson, Ida and Wester, Henric and Olausson, Håkan and Backlund Wasling, Helena}, - date = {2014}, - journaltitle = {Front. Behav. Neurosci.}, - volume = {8}, - doi = {10/f23xr2} -} - -@online{acktronikahapcoil, - title = {{{HapCoil One}} - {{Datasheet}}}, - author = {Acktronika}, - organization = {HapCoil-One - Datasheet} -} - -@article{adams2013finger, - title = {Finger Pad Friction and Its Role in Grip and Touch}, - author = {Adams, Michael J. and Johnson, Simon A. and Lefèvre, Philippe and Lévesque, Vincent and Hayward, Vincent and André, Thibaut and Thonnard, Jean-Louis}, - date = {2013}, - journaltitle = {J. R. Soc. Interface}, + journaltitle = {IEEE Trans. Haptics}, volume = {10}, - number = {80}, - doi = {10/gg6ths} -} - -@inproceedings{adams2022depth, - title = {Depth {{Perception}} in {{Augmented Reality}}: {{The Effects}} of {{Display}}, {{Shadow}}, and {{Position}}}, - shorttitle = {Depth {{Perception}} in {{Augmented Reality}}}, - booktitle = {{{IEEE Conf}}. {{Virtual Real}}. {{3D User Interfaces}}}, - author = {Adams, Haley and Stefanucci, Jeanine and Creem-Regehr, Sarah and Bodenheimer, Bobby}, - date = {2022}, - pages = {792--801}, - doi = {10/gtv3wn} -} - -@article{aggravi2022decentralized, - title = {Decentralized {{Control}} of a {{Heterogeneous Human}}–{{Robot Team}} for {{Exploration}} and {{Patrolling}}}, - author = {Aggravi, Marco and Sirignano, Giuseppe and Giordano, Paolo Robuffo and Pacchierotti, Claudio}, - date = {2022}, - journaltitle = {IEEE Trans. Autom. Sci. Eng.}, - volume = {19}, number = {4}, - pages = {3109--3125}, - doi = {10/grp3f7} + pages = {511--522}, + doi = {10/gcr9xm} +} + +@inproceedings{meli2014wearable, + title = {Wearable Haptics and Hand Tracking via an {{RGB-D}} Camera for Immersive Tactile Experiences}, + booktitle = {{{ACM SIGGRAPH Posters}}}, + author = {Meli, Leonardo and Scheggi, Stefano and Pacchierotti, Claudio and Prattichizzo, Domenico}, + date = {2014}, + doi = {10/grmp3d} +} + +@article{buchmann2005interaction, + title = {Interaction with {{Partially Transparent Hands}} and {{Objects}}}, + author = {Buchmann, V. and Nilsen, T. and Billinghurst, Mark}, + date = {2005} +} + +@inproceedings{buchmann2004fingartips, + title = {{{FingARtips}}: Gesture Based Direct Manipulation in {{Augmented Reality}}}, + booktitle = {Int. {{Conf}}. {{Comput}}. {{Graph}}. {{Interact}}. {{Tech}}. {{Australas}}. {{South East Asia}}}, + author = {Buchmann, Volkert and Violich, Stephen and Billinghurst, Mark and Cockburn, Andy}, + date = {2004}, + pages = {212--221}, + doi = {10/bh95bc} +} + +@inproceedings{mason2001reaching, + title = {Reaching Movements to Augmented and Graphic Objects in Virtual Environments}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Mason, Andrea H. and Walji, Masuma A. and Lee, Elaine J. and MacKenzie, Christine L.}, + date = {2001}, + pages = {426--433}, + doi = {10/cg8jvg} +} + +@inproceedings{hilliges2012holodesk, + title = {{{HoloDesk}}: Direct 3d Interactions with a Situated See-through Display}, + shorttitle = {{{HoloDesk}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Hilliges, Otmar and Kim, David and Izadi, Shahram and Weiss, Malte and Wilson, Andrew}, + date = {2012}, + pages = {2421--2430}, + doi = {10/ggfv5r} +} + +@inproceedings{scheggi2010shape, + title = {Shape and Weight Rendering for Haptic {{Augmented Reality}}}, + booktitle = {Int. {{Symp}}. {{Robot Hum}}. {{Interact}}. {{Commun}}.}, + author = {Scheggi, Stefano and Salvietti, Gionata and Prattichizzo, Domenico}, + date = {2010}, + pages = {44--49}, + doi = {10/cvnvmw} +} + +@article{devigne2020power, + title = {Power {{Wheelchair Navigation Assistance Using Wearable Vibrotactile Haptics}}}, + author = {Devigne, Louise and Aggravi, Marco and Bivaud, Morgane and Balix, Nathan and Teodorescu, Catalin Stefan and Carlson, Tom and Spreters, Tom and Pacchierotti, Claudio and Babel, Marie}, + date = {2020}, + journaltitle = {IEEE Trans. Haptics}, + volume = {13}, + number = {1}, + pages = {52--58}, + doi = {10/gnnfv9} +} + +@inproceedings{suzuki2014grasping, + title = {Grasping a Virtual Object with a Bare Hand}, + booktitle = {{{ACM SIGGRAPH Posters}}}, + author = {Suzuki, Sota and Suzuki, Haruto and Sato, Mie}, + date = {2014}, + doi = {10/gqd263} +} + +@article{krichenbauer2018augmented, + title = {Augmented {{Reality}} versus {{Virtual Reality}} for {{3D Object Manipulation}}}, + author = {Krichenbauer, Max and Yamamoto, Goshiro and Taketom, Takafumi and Sandor, Christian and Kato, Hirokazu}, + date = {2018}, + journaltitle = {IEEE Trans. Vis. Comput. Graph.}, + volume = {24}, + number = {2}, + pages = {1038--1048}, + doi = {10/ggfv5d} +} + +@inproceedings{yoon2020evaluating, + title = {Evaluating {{Remote Virtual Hands Models}} on {{Social Presence}} in {{Hand-based 3D Remote Collaboration}}}, + booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, + author = {Yoon, Boram and Kim, Hyung-il and Oh, Seo Young and Woo, Woontack}, + date = {2020}, + pages = {520--532}, + doi = {10/gktm5g} +} + +@article{lee2021wearable, + title = {Wearable {{Haptic Device}} for {{Stiffness Rendering}} of {{Virtual Objects}} in {{Augmented Reality}}}, + author = {Lee, Yongseok and Lee, Somang and Lee, Dongjun}, + date = {2021}, + journaltitle = {Appl. Sci.}, + volume = {11}, + number = {15}, + pages = {6932}, + doi = {10/gnn2d7} +} + +@inproceedings{blaga2017usability, + title = {Usability {{Analysis}} of an {{Off-the-Shelf Hand Posture Estimation Sensor}} for {{Freehand Physical Interaction}} in {{Egocentric Mixed Reality}}}, + booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, + author = {Blaga, Andreea-Dalia and Frutos-Pascual, Maite and Al-Kalbani, Maadh and Williams, Ian}, + date = {2017}, + pages = {31--34}, + doi = {10/gqd352} +} + +@inproceedings{saito2021contact, + title = {Contact {{Web Status Presentation}} for {{Freehand Grasping}} in {{MR-based Robot-teaching}}}, + booktitle = {{{ACMIEEE Int}}. {{Conf}}. {{Hum}}.-{{Robot Interact}}.}, + author = {Saito, Daichi and Wake, Naoki and Sasabuchi, Kazuhiro and Koike, Hideki and Ikeuchi, Katsushi}, + date = {2021}, + pages = {167--171}, + doi = {10/gqd687} +} + +@inproceedings{kahl2021investigation, + title = {Investigation of {{Size Variations}} in {{Optical See-through Tangible Augmented Reality}}}, + booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, + author = {Kahl, Denise and Ruble, Marc and Krüger, Antonio}, + date = {2021}, + pages = {147--155}, + doi = {10/gnc6vc} +} + +@article{pacchierotti2017wearable, + title = {Wearable {{Haptic Systems}} for the {{Fingertip}} and the {{Hand}}: {{Taxonomy}}, {{Review}}, and {{Perspectives}}}, + shorttitle = {Wearable {{Haptic Systems}} for the {{Fingertip}} and the {{Hand}}}, + author = {Pacchierotti, Claudio and Sinclair, Stephen and Solazzi, Massimiliano and Frisoli, Antonio and Hayward, Vincent and Prattichizzo, Domenico}, + date = {2017}, + journaltitle = {IEEE Trans. Haptics}, + volume = {10}, + number = {4}, + pages = {580--600}, + doi = {10/gcsbdr} +} + +@inproceedings{prachyabrued2014visual, + title = {Visual Feedback for Virtual Grasping}, + booktitle = {{{IEEE Symp}}. {{3D User Interfaces}}}, + author = {Prachyabrued, Mores and Borst, Christoph W.}, + date = {2014}, + pages = {19--26}, + doi = {10/gpjmbs} +} + +@inproceedings{holl2018efficient, + title = {Efficient {{Physics-Based Implementation}} for {{Realistic Hand-Object Interaction}} in {{Virtual Reality}}}, + booktitle = {{{IEEE Virtual Real}}.}, + author = {Höll, Markus and Oberweger, Markus and Arth, Clemens and Lepetit, Vincent}, + date = {2018}, + pages = {175--182}, + doi = {10/gpghkr} +} + +@inproceedings{lin2016need, + title = {Need a Hand? How Appearance Affects the Virtual Hand Illusion}, + shorttitle = {Need a Hand?}, + booktitle = {{{ACM Symp}}. {{Appl}}. {{Percept}}.}, + author = {Lin, Lorraine and Jörg, Sophie}, + date = {2016}, + pages = {69--76}, + doi = {10/gh4tbn} +} + +@article{vanveldhuizen2021effect, + title = {The {{Effect}} of {{Semi-Transparent}} and {{Interpenetrable Hands}} on {{Object Manipulation}} in {{Virtual Reality}}}, + author = {Van Veldhuizen, Michiel and Yang, Xubo}, + date = {2021}, + journaltitle = {IEEE Access}, + volume = {9}, + pages = {17572--17583}, + doi = {10/gpm2sn} +} + +@inproceedings{schwind2018touch, + title = {Touch with Foreign Hands: The Effect of Virtual Hand Appearance on Visual-Haptic Integration}, + shorttitle = {Touch with Foreign Hands}, + booktitle = {{{ACM Symp}}. {{Appl}}. {{Percept}}.}, + author = {Schwind, Valentin and Lin, Lorraine and Di Luca, Massimiliano and Jörg, Sophie and Hillis, James}, + date = {2018}, + pages = {1--8}, + doi = {10/gjzbjw} +} + +@article{bau2012revel, + title = {{{REVEL}}: Tactile Feedback Technology for Augmented Reality}, + shorttitle = {{{REVEL}}}, + author = {Bau, Olivier and Poupyrev, Ivan}, + date = {2012}, + journaltitle = {ACM Trans. Graph.}, + volume = {31}, + number = {4}, + pages = {89:1--89:11}, + doi = {10/gm2574} +} + +@article{xiao2018mrtouch, + title = {{{MRTouch}}: {{Adding Touch Input}} to {{Head-Mounted Mixed Reality}}}, + shorttitle = {{{MRTouch}}}, + author = {Xiao, Robert and Schwarz, Julia and Throm, Nick and Wilson, Andrew D. and Benko, Hrvoje}, + date = {2018}, + journaltitle = {IEEE Trans. Vis. Comput. Graph.}, + volume = {24}, + number = {4}, + pages = {1653--1660}, + doi = {10/gdfqcd} +} + +@inproceedings{hettiarachchi2016annexing, + title = {Annexing {{Reality}}: {{Enabling Opportunistic Use}} of {{Everyday Objects}} as {{Tangible Proxies}} in {{Augmented Reality}}}, + shorttitle = {Annexing {{Reality}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Hettiarachchi, Anuruddha and Wigdor, Daniel}, + date = {2016}, + pages = {1957--1967}, + doi = {10/gm5m8d} +} + +@inproceedings{teng2021touch, + title = {Touch\&{{Fold}}: {{A Foldable Haptic Actuator}} for {{Rendering Touch}} in {{Mixed Reality}}}, + shorttitle = {Touch\&{{Fold}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Teng, Shan-Yuan and Li, Pengyu and Nith, Romain and Fonseca, Joshua and Lopes, Pedro}, + date = {2021}, + doi = {10/gkskqb} +} + +@inproceedings{knorlein2009influence, + title = {Influence of Visual and Haptic Delays on Stiffness Perception in Augmented Reality}, + booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, + author = {Knorlein, B. and Di Luca, M. and Harders, M.}, + date = {2009}, + pages = {49--52}, + doi = {10/bbpd33} +} + +@article{punpongsanon2015softar, + title = {{{SoftAR}}: {{Visually Manipulating Haptic Softness Perception}} in {{Spatial Augmented Reality}}}, + shorttitle = {{{SoftAR}}}, + author = {Punpongsanon, Parinya and Iwai, Daisuke and Sato, Kosuke}, + date = {2015}, + journaltitle = {IEEE Trans. Vis. Comput. Graph.}, + volume = {21}, + number = {11}, + pages = {1279--1288}, + doi = {10/f7tsxm} +} + +@inproceedings{piumsomboon2014graspshell, + title = {Grasp-{{Shell}} vs Gesture-Speech: {{A}} Comparison of Direct and Indirect Natural Interaction Techniques in Augmented Reality}, + shorttitle = {Grasp-{{Shell}} vs Gesture-Speech}, + booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, + author = {Piumsomboon, Thammathip and Altimira, David and Kim, Hyungon and Clark, Adrian and Lee, Gun and Billinghurst, Mark}, + date = {2014}, + pages = {73--82}, + doi = {10/ggfwpt} +} + +@inproceedings{piumsomboon2013userdefined, + title = {User-{{Defined Gestures}} for {{Augmented Reality}}}, + booktitle = {Hum.-{{Comput}}. {{Interact}}.}, + author = {Piumsomboon, Thammathip and Clark, Adrian and Billinghurst, Mark and Cockburn, Andy}, + date = {2013}, + pages = {282--299}, + doi = {10/gnc6md} } @inproceedings{al-kalbani2016analysis, @@ -64,24 +289,6 @@ doi = {10/gqd24x} } -@inproceedings{alma2019perceived, - title = {Perceived {{Roughness}} of {{Band-Limited Noise}}, {{Single}}, and {{Multiple Sinusoids Compared}} to {{Recorded Vibration}}}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Alma, Ugur Alican and Altinsoy, Ercan}, - date = {2019}, - pages = {337--342}, - doi = {10/gr2dft} -} - -@article{alma2023perceptual, - title = {Perceptual {{Substitution}} Based {{Haptic Texture Rendering}} for {{Narrow-Band Reproduction}}}, - author = {Alma, U. Alican and Rosenkranz, Robert and Altinsoy, M. Ercan}, - date = {2023}, - journaltitle = {IEEE Trans. Haptics}, - pages = {204--214}, - doi = {10/grw7ms} -} - @article{ando2007fingernailmounted, title = {A Fingernail-Mounted Tactile Display for Augmented Reality Systems}, author = {Ando, Hideyuki and Watanabe, Junji and Inami, Masahiko and Sugimito, Maki and Maeda, Taro}, @@ -103,15 +310,6 @@ doi = {10/gjzbjt} } -@inproceedings{asano2012vibrotactile, - title = {Vibrotactile Display Approach That Modifies Roughness Sensations of Real Textures}, - booktitle = {{{IEEE Int}}. {{Symp}}. {{Robot Hum}}. {{Interact}}. {{Commun}}.}, - author = {Asano, Shuhei and Okamoto, Shogo and Matsuura, Yoichiro and Nagano, Hikaru and Yamada, Yoji}, - date = {2012}, - pages = {1001--1006}, - doi = {10/grx8c6} -} - @article{asano2015vibrotactile, title = {Vibrotactile {{Stimulation}} to {{Increase}} and {{Decrease Texture Roughness}}}, author = {Asano, Shuhei and Okamoto, Shogo and Yamada, Yoji}, @@ -123,431 +321,6 @@ doi = {10/gnbsk7} } -@inproceedings{azadi2014vibrotactile, - title = {Vibrotactile Actuators: {{Effect}} of Load and Body Site on Performance}, - shorttitle = {Vibrotactile Actuators}, - booktitle = {{{IEEE Haptics Symp}}.}, - author = {Azadi, Mojtaba and Jones, Lynette A.}, - date = {2014}, - pages = {351--356}, - doi = {10/gn2c7d} -} - -@inproceedings{azmandian2016haptic, - title = {Haptic {{Retargeting}}: {{Dynamic Repurposing}} of {{Passive Haptics}} for {{Enhanced Virtual Reality Experiences}}}, - shorttitle = {Haptic {{Retargeting}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Azmandian, Mahdi and Hancock, Mark and Benko, Hrvoje and Ofek, Eyal and Wilson, Andrew D.}, - date = {2016}, - pages = {1968--1979}, - doi = {10/gfz8mv} -} - -@article{azuma1997survey, - title = {A Survey of Augmented Reality}, - author = {Azuma, Ronald T.}, - date = {1997}, - journaltitle = {Presence Teleoperators Virtual Environ.}, - volume = {6}, - number = {4}, - pages = {355--385}, - doi = {10/gd7gb4} -} - -@inproceedings{balasubramanian2024sens3, - title = {{{SENS3}}: {{Multisensory Database}} of {{Finger-Surface Interactions}} and {{Corresponding Sensations}}}, - shorttitle = {{{SENS3}}}, - booktitle = {{{EuroHaptics}}}, - author = {Balasubramanian, Jagan K. and Kodak, Bence L. and Vardar, Yasemin}, - date = {2024}, - eprint = {2401.01818}, - eprinttype = {arXiv}, - eprintclass = {cs, eess} -} - -@article{bau2012revel, - title = {{{REVEL}}: Tactile Feedback Technology for Augmented Reality}, - shorttitle = {{{REVEL}}}, - author = {Bau, Olivier and Poupyrev, Ivan}, - date = {2012}, - journaltitle = {ACM Trans. Graph.}, - volume = {31}, - number = {4}, - pages = {89:1--89:11}, - doi = {10/gm2574} -} - -@article{baumgartner2013visual, - title = {Visual and {{Haptic Representations}} of {{Material Properties}}}, - author = {Baumgartner, Elisabeth and Wiebel, Christiane B. and Gegenfurtner, Karl R.}, - date = {2013}, - journaltitle = {Multisensory Res.}, - volume = {26}, - number = {5}, - pages = {429--455}, - doi = {10/gr3bjw} -} - -@inproceedings{bayart2008force, - title = {Force {{Feedback Virtual Painting}} on {{Real Objects}}: {{A Paradigm}} of {{Augmented Reality Haptics}}}, - shorttitle = {Force {{Feedback Virtual Painting}} on {{Real Objects}}}, - booktitle = {Haptics {{Percept}}. {{Devices Scenar}}.}, - author = {Bayart, Benjamin and Didier, Jean-Yves and Kheddar, Abderrahmane}, - date = {2008}, - pages = {776--785}, - doi = {10/dmrm4f} -} - -@article{bensmaia2003vibrations, - title = {The Vibrations of Texture}, - author = {BensmaÏa, Sliman J. and Hollins, Mark}, - date = {2003}, - journaltitle = {Somatosens. Mot. Res.}, - volume = {20}, - number = {1}, - pages = {33--43}, - doi = {10/b2tgqj} -} - -@article{bensmaia2005pacinian, - title = {Pacinian Representations of Fine Surface Texture}, - author = {Bensmaïa, Sliman and Hollins, Mark}, - date = {2005}, - journaltitle = {Percept. Psychophys.}, - volume = {67}, - number = {5}, - pages = {842--854}, - doi = {10/bp5d64} -} - -@article{bergmanntiest2006analysis, - title = {Analysis of Haptic Perception of Materials by Multidimensional Scaling and Physical Measurements of Roughness and Compressibility}, - author = {Bergmann Tiest, Wouter M. and Kappers, Astrid M.L.}, - date = {2006}, - journaltitle = {Acta Psychol. (Amst.)}, - volume = {121}, - number = {1}, - pages = {1--20}, - doi = {10/cfkq6d} -} - -@article{bergmanntiest2007haptic, - title = {Haptic and Visual Perception of Roughness}, - author = {Bergmann Tiest, Wouter M. and Kappers, Astrid M. L.}, - date = {2007}, - journaltitle = {Acta Psychologica}, - volume = {124}, - number = {2}, - pages = {177--189}, - doi = {10/bhq6p4} -} - -@article{bergmanntiest2008thermosensory, - title = {Thermosensory Reversal Effect Quantified}, - author = {Bergmann Tiest, Wouter M. and Kappers, Astrid M.L.}, - date = {2008}, - journaltitle = {Acta Psychol. (Amst.)}, - volume = {127}, - number = {1}, - pages = {46--50}, - doi = {10/ctnmzj} -} - -@article{bergmanntiest2009cues, - title = {Cues for {{Haptic Perception}} of {{Compliance}}}, - author = {Bergmann Tiest, W.M. and Kappers, A.}, - date = {2009}, - journaltitle = {IEEE Trans. Haptics}, - volume = {2}, - number = {4}, - pages = {189--199}, - doi = {10/bjrwbd} -} - -@article{bergmanntiest2009tactile, - title = {Tactile Perception of Thermal Diffusivity}, - author = {Bergmann Tiest, Wouter M. and Kappers, Astrid M. L.}, - date = {2009}, - journaltitle = {Atten. Percept. Psychophys.}, - volume = {71}, - number = {3}, - pages = {481--489}, - doi = {10/bw9zc2} -} - -@article{bergmanntiest2010haptic, - title = {Haptic Perception of Gravitational and Inertial Mass}, - author = {Bergmann Tiest, Wouter M. and Kappers, Astrid M. L.}, - date = {2010}, - journaltitle = {Attention, Perception, \& Psychophysics}, - volume = {72}, - number = {4}, - pages = {1144--1154}, - doi = {10/b6zfsv} -} - -@article{bergmanntiest2010tactual, - title = {Tactual Perception of Material Properties}, - author = {Bergmann Tiest, Wouter M.}, - date = {2010}, - journaltitle = {Vision Res.}, - volume = {50}, - number = {24}, - pages = {2775--2782}, - doi = {10/d8psfz} -} - -@inproceedings{bergmanntiest2011cutaneous, - title = {Cutaneous and Kinaesthetic Perception of Traversed Distance}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Bergmann Tiest, Wouter M. and Van Der Hoff, L. Martin A. and Kappers, Astrid M. L.}, - date = {2011}, - pages = {593--597}, - doi = {10/cq8qgm} -} - -@incollection{bergmanntiest2012investigating, - title = {Investigating the {{Effect}} of {{Area}} of {{Stimulation}} on {{Cutaneous}} and {{Proprioceptive Weight Perception}}}, - booktitle = {Haptics: {{Perception}}, {{Devices}}, {{Mobility}}, and {{Communication}}}, - author = {Bergmann Tiest, Wouter M. and Lyklema, Connie and Kappers, Astrid M. L.}, - date = {2012}, - volume = {7283}, - pages = {7--12} -} - -@inproceedings{bergstrom2021how, - title = {How to {{Evaluate Object Selection}} and {{Manipulation}} in {{VR}}? {{Guidelines}} from 20 {{Years}} of {{Studies}}}, - shorttitle = {How to {{Evaluate Object Selection}} and {{Manipulation}} in {{VR}}?}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Bergström, Joanna and Dalsgaard, Tor-Salve and Alexander, Jason and Hornbæk, Kasper}, - date = {2021}, - doi = {10/gksktq} -} - -@article{bermejo2021exploring, - title = {Exploring {{Button Designs}} for {{Mid-air Interaction}} in {{Virtual Reality}}: {{A Hexa-metric Evaluation}} of {{Key Representations}} and {{Multi-modal Cues}}}, - shorttitle = {Exploring {{Button Designs}} for {{Mid-air Interaction}} in {{Virtual Reality}}}, - author = {Bermejo, Carlos and Lee, Lik Hang and Chojecki, Paul and Przewozny, David and Hui, Pan}, - date = {2021}, - journaltitle = {ACM Hum.-Comput. Interact.}, - volume = {5}, - pages = {1--26}, - doi = {10/gngb8p} -} - -@incollection{bernard2018harmonious, - title = {Harmonious {{Textures}}: {{The Perceptual Dimensions}} of {{Synthetic Sinusoidal Gratings}}}, - shorttitle = {Harmonious {{Textures}}}, - booktitle = {Haptics: {{Science}}, {{Technology}}, and {{Applications}}}, - author = {Bernard, Corentin and Monnoyer, Jocelyn and Wiertlewski, Michaël}, - editor = {Prattichizzo, Domenico and Shinoda, Hiroyuki and Tan, Hong Z. and Ruffaldi, Emanuele and Frisoli, Antonio}, - date = {2018}, - volume = {10894}, - pages = {685--695}, - doi = {10.1007/978-3-319-93399-3_58} -} - -@article{bernard2020detection, - title = {Detection of {{Friction-Modulated Textures}} Is {{Limited}} by {{Vibrotactile Sensitivity}}}, - author = {Bernard, Corentin and Ystad, Sølvi and Monnoyer, Jocelyn and Wiertlewski, Michaël}, - date = {2020}, - journaltitle = {IEEE Trans. Haptics}, - volume = {13}, - number = {3}, - pages = {542--551}, - doi = {10/gr2d9t} -} - -@inproceedings{besancon2017mouse, - title = {Mouse, {{Tactile}}, and {{Tangible Input}} for {{3D Manipulation}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Besançon, Lonni and Issartel, Paul and Ammi, Mehdi and Isenberg, Tobias}, - date = {2017}, - pages = {4727--4740}, - doi = {10/gpmzm8} -} - -@article{bhatia2024augmenting, - title = {Augmenting the Feel of Real Objects: {{An}} Analysis of Haptic Augmented Reality}, - shorttitle = {Augmenting the Feel of Real Objects}, - author = {Bhatia, Arpit and Hornbæk, Kasper and Seifi, Hasti}, - date = {2024}, - journaltitle = {Int. J. Hum.-Comput. Stud.}, - volume = {185}, - doi = {10/gtvx2r} -} - -@inproceedings{bianchi2006high, - title = {High {{Precision Augmented Reality Haptics}}}, - booktitle = {{{EuroHaptics}}}, - author = {Bianchi, G and Knoerlein, B and Szekely, G and Harders, M}, - date = {2006}, - volume = {6}, - pages = {169--178} -} - -@article{billinghurst2021grand, - title = {Grand {{Challenges}} for {{Augmented Reality}}}, - author = {Billinghurst, Mark}, - date = {2021}, - journaltitle = {Front. Virtual Real.}, - volume = {2}, - doi = {10/gjrwsw} -} - -@book{bimber2005spatial, - title = {Spatial Augmented Reality: Merging Real and Virtual Worlds}, - shorttitle = {Spatial Augmented Reality}, - author = {Bimber, Oliver and Raskar, Ramesh}, - date = {2005}, - pagetotal = {369} -} - -@inproceedings{blaga2017usability, - title = {Usability {{Analysis}} of an {{Off-the-Shelf Hand Posture Estimation Sensor}} for {{Freehand Physical Interaction}} in {{Egocentric Mixed Reality}}}, - booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, - author = {Blaga, Andreea-Dalia and Frutos-Pascual, Maite and Al-Kalbani, Maadh and Williams, Ian}, - date = {2017}, - pages = {31--34}, - doi = {10/gqd352} -} - -@inproceedings{blaga2020too, - title = {Too {{Hot}} to {{Handle}}: {{An Evaluation}} of the {{Effect}} of {{Thermal Visual Representation}} on {{User Grasping Interaction}} in {{Virtual Reality}}}, - shorttitle = {Too {{Hot}} to {{Handle}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Blaga, Andreea Dalia and Frutos-Pascual, Maite and Creed, Chris and Williams, Ian}, - date = {2020}, - pages = {1--16}, - doi = {10/gs4p4x} -} - -@article{blausen2014medical, - title = {Medical Gallery of {{Blausen Medical}}}, - author = {Blausen, Bruce}, - date = {2014}, - journaltitle = {WikiJournal Med.}, - volume = {1}, - number = {2}, - doi = {10/ggkx78} -} - -@article{borst2006spring, - title = {A {{Spring Model}} for {{Whole-Hand Virtual Grasping}}}, - author = {Borst, Christoph W. and Indugula, Arun P.}, - date = {2006}, - journaltitle = {Presence}, - volume = {15}, - number = {1}, - pages = {47--61}, - doi = {10/bwdcc7} -} - -@article{bousquet2024reconfigurable, - title = {Reconfigurable and Versatile Augmented Reality Optical Setup for Tangible Experimentations}, - author = {Bousquet, Bruno and Hachet, Martin and Casamayou, Vincent and Normand, Erwan and Guillet, Jean-Paul and Canioni, Lionel}, - date = {2024}, - journaltitle = {Discov. Educ.}, - volume = {3}, - number = {1}, - pages = {113}, - doi = {10/gt63g4} -} - -@inproceedings{brahimaj2023crossmodal, - title = {Cross-Modal Interaction of Stereoscopy, Surface Deformation and Tactile Feedback on the Perception of Texture Roughness in an Active Touch Condition}, - booktitle = {Int. {{Francoph}}. {{Conf}}. {{Hum}}.-{{Comput}}. {{Interact}}.}, - author = {Brahimaj, Detjon and Berthaut, Florent and Giraud, Frederic and Semail, Betty}, - date = {2023}, - doi = {10/gs6rbg} -} - -@article{brodie1985jiggling, - title = {Jiggling a {{Lifted Weight Does Aid Discrimination}}}, - author = {Brodie, Eric E. and Ross, Helen E.}, - date = {1985}, - journaltitle = {The American Journal of Psychology}, - volume = {98}, - number = {3}, - eprint = {1422630}, - eprinttype = {jstor}, - pages = {469}, - doi = {10/dnm7kk} -} - -@inproceedings{brooks2021stereosmell, - title = {Stereo-{{Smell}} via {{Electrical Trigeminal Stimulation}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Brooks, Jas and Teng, Shan-Yuan and Wen, Jingxuan and Nith, Romain and Nishida, Jun and Lopes, Pedro}, - date = {2021}, - doi = {10/gksk2c} -} - -@inproceedings{brooks2023taste, - title = {Taste {{Retargeting}} via {{Chemical Taste Modulators}}}, - booktitle = {{{ACM Symp}}. {{User Interface Softw}}. {{Technol}}.}, - author = {Brooks, Jas and Amin, Noor and Lopes, Pedro}, - date = {2023}, - doi = {10/gt625w} -} - -@inproceedings{buchmann2004fingartips, - title = {{{FingARtips}}: Gesture Based Direct Manipulation in {{Augmented Reality}}}, - booktitle = {Int. {{Conf}}. {{Comput}}. {{Graph}}. {{Interact}}. {{Tech}}. {{Australas}}. {{South East Asia}}}, - author = {Buchmann, Volkert and Violich, Stephen and Billinghurst, Mark and Cockburn, Andy}, - date = {2004}, - pages = {212--221}, - doi = {10/bh95bc} -} - -@article{buchmann2005interaction, - title = {Interaction with {{Partially Transparent Hands}} and {{Objects}}}, - author = {Buchmann, V. and Nilsen, T. and Billinghurst, Mark}, - date = {2005} -} - -@article{bullock2013grasp, - title = {Grasp {{Frequency}} and {{Usage}} in {{Daily Household}} and {{Machine Shop Tasks}}}, - author = {Bullock, Ian M. and Zheng, Joshua Z. and De La Rosa, Sara and Guertler, Charlotte and Dollar, Aaron M.}, - date = {2013}, - journaltitle = {IEEE Trans. Haptics}, - volume = {6}, - number = {3}, - pages = {296--308}, - doi = {10/f482vj} -} - -@article{bullock2013handcentric, - title = {A {{Hand-Centric Classification}} of {{Human}} and {{Robot Dexterous Manipulation}}}, - author = {Bullock, Ian M. and Ma, Raymond R. and Dollar, Aaron M.}, - date = {2013}, - journaltitle = {IEEE Trans. Haptics}, - volume = {6}, - number = {2}, - pages = {129--144}, - doi = {10/f4zvmf} -} - -@inproceedings{casiez2012filter, - title = {1€ Filter: A Simple Speed-Based Low-Pass Filter for Noisy Input in Interactive Systems}, - shorttitle = {1 \&\#x20ac; Filter}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Casiez, Géry and Roussel, Nicolas and Vogel, Daniel}, - date = {2012}, - pages = {2527--2530}, - doi = {10/ggsww8} -} - -@inproceedings{chan2021hasti, - title = {Hasti: {{Haptic}} and {{Audio Synthesis}} for {{Texture Interactions}}}, - shorttitle = {Hasti}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Chan, Sonny and Tymms, Chase and Colonnese, Nicholas}, - date = {2021}, - pages = {733--738}, - doi = {10/gmnd52} -} - @inproceedings{chessa2019grasping, title = {Grasping Objects in Immersive {{Virtual Reality}}}, booktitle = {{{IEEE Virtual Real}}.}, @@ -557,297 +330,6 @@ doi = {10/gpm2sx} } -@article{chinello2018three, - title = {A {{Three Revolute-Revolute-Spherical Wearable Fingertip Cutaneous Device}} for {{Stiffness Rendering}}}, - author = {Chinello, Francesco and Pacchierotti, Claudio and Malvezzi, Monica and Prattichizzo, Domenico}, - date = {2018-01}, - journaltitle = {IEEE Trans. Haptics}, - volume = {11}, - number = {1}, - pages = {39--50}, - doi = {10/gdc7b3} -} - -@article{chinello2020modular, - title = {A {{Modular Wearable Finger Interface}} for {{Cutaneous}} and {{Kinesthetic Interaction}}: {{Control}} and {{Evaluation}}}, - shorttitle = {A {{Modular Wearable Finger Interface}} for {{Cutaneous}} and {{Kinesthetic Interaction}}}, - author = {Chinello, Francesco and Malvezzi, Monica and Prattichizzo, Domenico and Pacchierotti, Claudio}, - date = {2020}, - journaltitle = {IEEE Trans. Ind. Electron.}, - volume = {67}, - number = {1}, - pages = {706--716}, - doi = {10/gf4g6t} -} - -@article{choi2013vibrotactile, - title = {Vibrotactile {{Display}}: {{Perception}}, {{Technology}}, and {{Applications}}}, - shorttitle = {Vibrotactile {{Display}}}, - author = {Choi, Seungmoon and Kuchenbecker, Katherine J.}, - date = {2013}, - journaltitle = {Proc. IEEE}, - volume = {101}, - number = {9}, - pages = {2093--2104}, - doi = {10/f5btt5} -} - -@inproceedings{choi2016wolverine, - title = {Wolverine: {{A}} Wearable Haptic Interface for Grasping in Virtual Reality}, - shorttitle = {Wolverine}, - booktitle = {{{IEEERSJ Int}}. {{Conf}}. {{Intell}}. {{Robots Syst}}.}, - author = {Choi, Inrak and Hawkes, Elliot W. and Christensen, David L. and Ploch, Christopher J. and Follmer, Sean}, - date = {2016}, - pages = {986--993}, - doi = {10/gnc6m5} -} - -@inproceedings{choi2018claw, - title = {{{CLAW}}: {{A Multifunctional Handheld Haptic Controller}} for {{Grasping}}, {{Touching}}, and {{Triggering}} in {{Virtual Reality}}}, - shorttitle = {{{CLAW}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Choi, Inrak and Ofek, Eyal and Benko, Hrvoje and Sinclair, Mike and Holz, Christian}, - date = {2018}, - doi = {10/gfz8j2} -} - -@article{choi2021augmenting, - title = {Augmenting {{Perceived Softness}} of {{Haptic Proxy Objects Through Transient Vibration}} and {{Visuo-Haptic Illusion}} in {{Virtual Reality}}}, - author = {Choi, Inrak and Zhao, Yiwei and Gonzalez, Eric J. and Follmer, Sean}, - date = {2021}, - journaltitle = {IEEE Trans. Vis. Comput. Graph.}, - volume = {27}, - number = {12}, - pages = {4387--4400}, - doi = {10/grx8df} -} - -@inproceedings{culbertson2012refined, - title = {Refined Methods for Creating Realistic Haptic Virtual Textures from Tool-Mediated Contact Acceleration Data}, - booktitle = {{{IEEE Haptics Symp}}.}, - author = {Culbertson, Heather and Romano, Joseph M. and Castillo, Pablo and Mintz, Max and Kuchenbecker, Katherine J.}, - date = {2012}, - pages = {385--391}, - doi = {10/gk9jc8} -} - -@inproceedings{culbertson2013generating, - title = {Generating Haptic Texture Models from Unconstrained Tool-Surface Interactions}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Culbertson, Heather and Unwin, Juliette and Goodman, Benjamin E. and Kuchenbecker, Katherine J.}, - date = {2013}, - pages = {295--300}, - doi = {10/grq8j4} -} - -@article{culbertson2014modeling, - title = {Modeling and {{Rendering Realistic Textures}} from {{Unconstrained Tool-Surface Interactions}}}, - author = {Culbertson, Heather and Unwin, Juliette and Kuchenbecker, Katherine J.}, - date = {2014}, - journaltitle = {IEEE Trans. Haptics}, - volume = {7}, - number = {3}, - pages = {381--393}, - doi = {10/f6th68} -} - -@inproceedings{culbertson2014one, - title = {One Hundred Data-Driven Haptic Texture Models and Open-Source Methods for Rendering on {{3D}} Objects}, - booktitle = {{{IEEE Haptics Symp}}.}, - author = {Culbertson, Heather and López Delgado, Juan José and Kuchenbecker, Katherine J.}, - date = {2014}, - pages = {319--325}, - doi = {10/grq5fs} -} - -@software{culbertson2014penn, - title = {The {{Penn Haptic Texture Toolkit}} for {{Modeling}}, {{Rendering}}, and {{Evaluating Haptic Virtual Textures}}}, - author = {Culbertson, Heather and Delgado, Juan Jose Lopez and Kuchenbecker, Katherine J}, - date = {2014} -} - -@inproceedings{culbertson2015should, - title = {Should Haptic Texture Vibrations Respond to User Force and Speed?}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Culbertson, Heather and Kuchenbecker, Katherine J.}, - date = {2015}, - pages = {106--112}, - doi = {10/grx8dx} -} - -@article{culbertson2017importance, - title = {Importance of {{Matching Physical Friction}}, {{Hardness}}, and {{Texture}} in {{Creating Realistic Haptic Virtual Surfaces}}}, - author = {Culbertson, Heather and Kuchenbecker, Katherine J.}, - date = {2017}, - journaltitle = {IEEE Trans. Haptics}, - volume = {10}, - number = {1}, - pages = {63--74}, - doi = {10/f9ttz9} -} - -@article{culbertson2017ungrounded, - title = {Ungrounded {{Haptic Augmented Reality System}} for {{Displaying Roughness}} and {{Friction}}}, - author = {Culbertson, Heather and Kuchenbecker, Katherine J.}, - date = {2017}, - journaltitle = {IEEE ASME Trans. Mechatron.}, - volume = {22}, - number = {4}, - pages = {1839--1849}, - doi = {10/gbth8c} -} - -@article{culbertson2018haptics, - title = {Haptics: {{The Present}} and {{Future}} of {{Artificial Touch Sensation}}}, - shorttitle = {Haptics}, - author = {Culbertson, Heather and Schorr, Samuel B. and Okamura, Allison M.}, - date = {2018}, - journaltitle = {Annu. Rev. Control Robot. Auton. Syst.}, - volume = {1}, - number = {1}, - pages = {385--409}, - doi = {10/gfz8mx} -} - -@inproceedings{cutkosky1986modeling, - title = {Modeling Manufacturing Grips and Correlations with the Design of Robotic Hands}, - booktitle = {{{IEEE Int}}. {{Conf}}. {{Robot}}. {{Autom}}.}, - author = {Cutkosky, Mark R. and Wright, P.}, - date = {1986}, - pages = {1533--1539}, - doi = {10/dsg4h5} -} - -@article{dallmann2015role, - title = {The Role of Vibration in Tactile Speed Perception}, - author = {Dallmann, Chris J. and Ernst, Marc O. and Moscatelli, Alessandro}, - date = {2015}, - journaltitle = {J. Neurophysiol.}, - volume = {114}, - number = {6}, - pages = {3131--3139}, - doi = {10/f747vn} -} - -@inproceedings{dariosecq2020investigating, - title = {Investigating the {{Semantic Perceptual Space}} of {{Synthetic Textures}} on an {{Ultrasonic}} Based {{Haptic Tablet}}}, - booktitle = {Int. {{Jt}}. {{Conf}}. {{Comput}}. {{Vis}}. {{Imaging Comput}}. {{Graph}}. {{Theory Appl}}.}, - author = {Dariosecq, Maxime and Plénacoste, Patricia and Berthaut, Florent and Kaci, Anis and Giraud, Frédéric}, - date = {2020}, - pages = {45--52}, - doi = {10.5220/0008979800450052} -} - -@inproceedings{degraen2019enhancing, - title = {Enhancing {{Texture Perception}} in {{Virtual Reality Using 3D-Printed Hair Structures}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Degraen, Donald and Zenner, André and Krüger, Antonio}, - date = {2019}, - doi = {10/gfz8mf} -} - -@article{delhaye2012textureinduced, - title = {Texture-Induced Vibrations in the Forearm during Tactile Exploration}, - author = {Delhaye, Benoit and Hayward, Vincent and Lefèvre, Philippe and Thonnard, Jean-Louis}, - date = {2012}, - journaltitle = {Front. Behav. Neurosci.}, - volume = {6}, - doi = {10/gt76tv} -} - -@article{derler2013stick, - title = {Stick–Slip Phenomena in the Friction of Human Skin}, - author = {Derler, S. and Rotaru, G.-M.}, - date = {2013}, - journaltitle = {Wear}, - volume = {301}, - number = {1-2}, - pages = {324--329}, - doi = {10/f45z4n} -} - -@inproceedings{detinguy2018enhancing, - title = {Enhancing the {{Stiffness Perception}} of {{Tangible Objects}} in {{Mixed Reality Using Wearable Haptics}}}, - booktitle = {{{IEEE Virtual Real}}.}, - author = {family=Tinguy, given=Xavier, prefix=de, useprefix=true and Pacchierotti, Claudio and Marchal, Maud and Lecuyer, Anatole}, - date = {2018}, - pages = {81--90}, - doi = {10/gf39qk} -} - -@article{detinguy2021capacitive, - title = {Capacitive {{Sensing}} for {{Improving Contact Rendering With Tangible Objects}} in {{VR}}}, - author = {De Tinguy, Xavier and Pacchierotti, Claudio and Lecuyer, Anatole and Marchal, Maud}, - date = {2021}, - journaltitle = {IEEE Trans. Vis. Comput. Graph.}, - volume = {27}, - number = {4}, - pages = {2481--2487}, - doi = {10/gnc6pr} -} - -@article{devigne2020power, - title = {Power {{Wheelchair Navigation Assistance Using Wearable Vibrotactile Haptics}}}, - author = {Devigne, Louise and Aggravi, Marco and Bivaud, Morgane and Balix, Nathan and Teodorescu, Catalin Stefan and Carlson, Tom and Spreters, Tom and Pacchierotti, Claudio and Babel, Marie}, - date = {2020}, - journaltitle = {IEEE Trans. Haptics}, - volume = {13}, - number = {1}, - pages = {52--58}, - doi = {10/gnnfv9} -} - -@article{dey2018systematic, - title = {A {{Systematic Review}} of 10 {{Years}} of {{Augmented Reality Usability Studies}}: 2005 to 2014}, - shorttitle = {A {{Systematic Review}} of 10 {{Years}} of {{Augmented Reality Usability Studies}}}, - author = {Dey, Arindam and Billinghurst, Mark and Lindeman, Robert W. and Swan, J. Edward}, - date = {2018}, - journaltitle = {Front. Robot. AI}, - volume = {5}, - doi = {10/gfz8jg} -} - -@inproceedings{diaz2017designing, - title = {Designing for {{Depth Perceptions}} in {{Augmented Reality}}}, - booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, - author = {Diaz, Catherine and Walker, Michael and Szafir, Danielle Albers and Szafir, Daniel}, - date = {2017}, - pages = {111--122}, - doi = {10/gkqxb8} -} - -@article{diluca2011effects, - title = {Effects of Visual–Haptic Asynchronies and Loading–Unloading Movements on Compliance Perception}, - author = {Di Luca, M. and Knörlein, B. and Ernst, M.O. and Harders, M.}, - date = {2011}, - journaltitle = {Brain Res. Bull.}, - volume = {85}, - number = {5}, - pages = {245--259}, - doi = {10/b2zwbt} -} - -@inproceedings{diluca2019perceptual, - title = {Perceptual {{Limits}} of {{Visual-Haptic Simultaneity}} in {{Virtual Reality Interactions}}}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Di Luca, Massimiliano and Mahnan, Arash}, - date = {2019}, - pages = {67--72}, - doi = {10/gtfrpn} -} - -@article{distefano2022roughness, - title = {Roughness Perception: {{A}} Multisensory/Crossmodal Perspective}, - shorttitle = {Roughness Perception}, - author = {Di Stefano, Nicola and Spence, Charles}, - date = {2022}, - journaltitle = {Atten. Percept. Psychophys.}, - volume = {84}, - number = {7}, - pages = {2087--2114}, - doi = {10/gtrgcm} -} - @article{ernst2002humans, title = {Humans Integrate Visual and Haptic Information in a Statistically Optimal Fashion}, author = {Ernst, Marc O. and Banks, Martin S.}, @@ -859,138 +341,6 @@ doi = {10/fjhbkh} } -@article{ernst2004merging, - title = {Merging the Senses into a Robust Percept}, - author = {Ernst, Marc O. and Bülthoff, Heinrich H.}, - date = {2004}, - journaltitle = {Trends Cogn. Sci.}, - volume = {8}, - number = {4}, - pages = {162--169}, - doi = {10/bzhmrh} -} - -@article{erol2007visionbased, - title = {Vision-Based Hand Pose Estimation: {{A}} Review}, - shorttitle = {Vision-Based Hand Pose Estimation}, - author = {Erol, Ali and Bebis, George and Nicolescu, Mircea and Boyle, Richard D. and Twombly, Xander}, - date = {2007}, - journaltitle = {Comput. Vis. Image Underst.}, - volume = {108}, - number = {1-2}, - pages = {52--73}, - doi = {10/bzm33v} -} - -@inproceedings{feick2023turnitup, - title = {Turn-{{It-Up}}: {{Rendering Resistance}} for {{Knobs}} in {{Virtual Reality}} through {{Undetectable Pseudo-Haptics}}}, - shorttitle = {Turn-{{It-Up}}}, - booktitle = {{{ACM Symp}}. {{User Interface Softw}}. {{Technol}}.}, - author = {Feick, Martin and Zenner, André and Ariza, Oscar and Tang, Anthony and Biyikli, Cihan and Krüger, Antonio}, - date = {2023}, - doi = {10/gtfhf6} -} - -@article{feix2016grasp, - title = {The {{GRASP Taxonomy}} of {{Human Grasp Types}}}, - author = {Feix, Thomas and Romero, Javier and Schmiedmayer, Heinz-Bodo and Dollar, Aaron M. and Kragic, Danica}, - date = {2016}, - journaltitle = {IEEE Trans. Hum.-Mach. Syst.}, - volume = {46}, - number = {1}, - pages = {66--77}, - doi = {10.1109/THMS.2015.2470657} -} - -@article{fernandes2012tactual, - title = {Tactual Perception: A Review of Experimental Variables and Procedures}, - shorttitle = {Tactual Perception}, - author = {Fernandes, Alexandra M. and Albuquerque, Pedro B.}, - date = {2012}, - journaltitle = {Cogn. Process.}, - volume = {13}, - number = {4}, - pages = {285--301}, - doi = {10/f4fdm6} -} - -@article{ferro2023deconstructing, - title = {Deconstructing {{Haptic Feedback Information}} in {{Robot-Assisted Needle Insertion}} in {{Soft Tissues}}}, - author = {Ferro, Marco and Pacchierotti, Claudio and Rossi, Sara and Vendittelli, Marilena}, - date = {2023}, - journaltitle = {IEEE Trans. Haptics}, - pages = {536--542}, - doi = {10/gss9tn} -} - -@inproceedings{fradin2023humans, - title = {Humans {{Struggle}} to {{Perceive Congruence}} in {{Visuo-Haptic Textures}}}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Fradin, Jenna and Haliyo, Sinan and Gueorguiev, David}, - date = {2023}, - pages = {128--133} -} - -@article{friedman2008magnitude, - title = {Magnitude Estimation of Softness}, - author = {Friedman, Robert M. and Hester, Kim D. and Green, Barry G. and LaMotte, Robert H.}, - date = {2008}, - journaltitle = {Exp. Brain Res.}, - volume = {191}, - number = {2}, - pages = {133--142}, - doi = {10/bg8636} -} - -@article{friesen2021building, - title = {Building a {{Navigable Fine Texture Design Space}}}, - author = {Friesen, Rebecca Fenton and Klatzky, Roberta L. and Peshkin, Michael A. and Colgate, J. Edward}, - date = {2021}, - journaltitle = {IEEE Trans. Haptics}, - volume = {14}, - number = {4}, - pages = {897--906}, - doi = {10/gs6x54} -} - -@article{friesen2024perceived, - title = {Perceived Realism of Virtual Textures Rendered by a Vibrotactile Wearable Ring Display}, - author = {Friesen, Rebecca Fenton and Vardar, Yasemin}, - date = {2024}, - journaltitle = {IEEE Trans. Haptics}, - doi = {10/gs6x4v} -} - -@article{frohner2019can, - title = {Can {{Wearable Haptic Devices Foster}} the {{Embodiment}} of {{Virtual Limbs}}?}, - author = {Frohner, Jakob and Salvietti, Gionata and Beckerle, Philipp and Prattichizzo, Domenico}, - date = {2019}, - journaltitle = {IEEE Trans. Haptics}, - volume = {12}, - number = {3}, - pages = {339--349}, - doi = {10/ghms7m} -} - -@inproceedings{furio2017hobit, - title = {Hobit: {{Hybrid}} Optical Bench for Innovative Teaching}, - shorttitle = {Hobit}, - booktitle = {Proc. 2017 {{Chi Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Furió, David and Fleck, Stéphanie and Bousquet, Bruno and Guillet, Jean-Paul and Canioni, Lionel and Hachet, Martin}, - date = {2017}, - pages = {949--959}, - doi = {10/ghq79w} -} - -@inproceedings{gabardi2016new, - title = {A New Wearable Fingertip Haptic Interface for the Rendering of Virtual Shapes and Surface Features}, - booktitle = {{{IEEE Haptics Symp}}.}, - author = {Gabardi, Massimiliano and Solazzi, Massimiliano and Leonardis, Daniele and Frisoli, Antonio}, - date = {2016}, - pages = {140--146}, - doi = {10/gm5pxb} -} - @article{gaffary2017ar, title = {{{AR Feels}} “{{Softer}}” than {{VR}}: {{Haptic Perception}} of {{Stiffness}} in {{Augmented}} versus {{Virtual Reality}}}, shorttitle = {{{AR Feels}} “{{Softer}}” than {{VR}}}, @@ -1003,289 +353,6 @@ doi = {10/gb4k9h} } -@article{gaudeni2019presenting, - title = {Presenting {{Surface Features Using}} a {{Haptic Ring}}: {{A Psychophysical Study}} on {{Relocating Vibrotactile Feedback}}}, - shorttitle = {Presenting {{Surface Features Using}} a {{Haptic Ring}}}, - author = {Gaudeni, Chiara and Meli, Leonardo and Jones, Lynette A. and Prattichizzo, Domenico}, - date = {2019}, - journaltitle = {IEEE Trans. Haptics}, - volume = {12}, - number = {4}, - pages = {428--437}, - doi = {10/grq5jd} -} - -@article{genay2021virtual, - title = {Virtual, {{Real}} or {{Mixed}}: {{How Surrounding Objects Influence}} the {{Sense}} of {{Embodiment}} in {{Optical See-Through Experiences}}?}, - shorttitle = {Virtual, {{Real}} or {{Mixed}}}, - author = {Genay, Adélaïde and Lécuyer, Anatole and Hachet, Martin}, - date = {2021}, - journaltitle = {Front. Virtual Real.}, - volume = {2}, - doi = {10/gkghs9} -} - -@article{gonzalez2014analysis, - title = {Analysis of {{Hand Contact Areas}} and {{Interaction Capabilities During Manipulation}} and {{Exploration}}}, - author = {Gonzalez, Franck and Gosselin, Florian and Bachta, Wael}, - date = {2014}, - journaltitle = {IEEE Trans. Haptics}, - volume = {7}, - number = {4}, - pages = {415--429}, - doi = {10/f6xwn9} -} - -@article{greenspon2020effect, - title = {Effect of Scanning Speed on Texture-Elicited Vibrations}, - author = {Greenspon, Charles M. and McLellan, Kristine R. and Lieber, Justin D. and Bensmaia, Sliman J.}, - date = {2020}, - journaltitle = {J. R. Soc. Interface}, - volume = {17}, - number = {167}, - pages = {20190892}, - doi = {10/gpxpgk} -} - -@inproceedings{grubert2018effects, - title = {Effects of {{Hand Representations}} for {{Typing}} in {{Virtual Reality}}}, - booktitle = {{{IEEE Virtual Real}}.}, - author = {Grubert, Jens and Witzani, Lukas and Ofek, Eyal and Pahud, Michel and Kranz, Matthias and Kristensson, Per Ola}, - date = {2018}, - pages = {151--158}, - doi = {10/gf39qd} -} - -@incollection{gueorguiev2022larger, - title = {Larger {{Skin-Surface Contact Through}} a {{Fingertip Wearable Improves Roughness Perception}}}, - booktitle = {Haptics: {{Science}}, {{Technology}}, {{Applications}}}, - author = {Gueorguiev, David and Javot, Bernard and Spiers, Adam and Kuchenbecker, Katherine J.}, - editor = {Seifi, Hasti and Kappers, Astrid M. L. and Schneider, Oliver and Drewing, Knut and Pacchierotti, Claudio and Abbasimoshaei, Alireza and Huisman, Gijs and Kern, Thorsten A.}, - date = {2022}, - volume = {13235}, - pages = {171--179}, - doi = {10.1007/978-3-031-06249-0_20} -} - -@inproceedings{gunther2022smooth, - title = {Smooth as {{Steel Wool}}: {{Effects}} of {{Visual Stimuli}} on the {{Haptic Perception}} of {{Roughness}} in {{Virtual Reality}}}, - shorttitle = {Smooth as {{Steel Wool}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Günther, Sebastian and Rasch, Julian and Schön, Dominik and Müller, Florian and Schmitz, Martin and Riemann, Jan and Matviienko, Andrii and Mühlhäuser, Max}, - date = {2022}, - doi = {10/gsdsnb} -} - -@article{guruswamy2010iir, - title = {{{IIR Filter Models}} of {{Haptic Vibration Textures}}}, - author = {Guruswamy, Vijaya Lakshmi and Lang, Jochen and Lee, Won-Sook}, - date = {2010}, - journaltitle = {IEEE Trans. Instrum. Meas.}, - volume = {60}, - number = {1}, - pages = {93--103}, - doi = {10/b7rbf7} -} - -@article{guy2023sense, - title = {The Sense of Embodiment in {{Virtual Reality}} and Its Assessment Methods}, - author = {Guy, Martin and Normand, Jean-Marie and Jeunet-Kelway, Camille and Moreau, Guillaume}, - date = {2023}, - journaltitle = {Front. Virtual Real.}, - volume = {4}, - doi = {10/gt63zb} -} - -@inproceedings{ha2014wearhand, - title = {{{WeARHand}}: {{Head-worn}}, {{RGB-D}} Camera-Based, Bare-Hand User Interface with Visually Enhanced Depth Perception}, - shorttitle = {{{WeARHand}}}, - booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, - author = {Ha, Taejin and Feiner, Steven and Woo, Woontack}, - date = {2014}, - pages = {219--228}, - doi = {10/gfvfs8} -} - -@incollection{hachisu2012augmentation, - title = {Augmentation of {{Material Property}} by {{Modulating Vibration Resulting}} from {{Tapping}}}, - booktitle = {Haptics: {{Perception}}, {{Devices}}, {{Mobility}}, and {{Communication}}}, - author = {Hachisu, Taku and Sato, Michi and Fukushima, Shogo and Kajimoto, Hiroyuki}, - date = {2012}, - volume = {7282}, - pages = {173--180}, - doi = {10.1007/978-3-642-31401-8_16} -} - -@article{hameed2023how, - title = {How Good Are Virtual Hands? {{Influences}} of Input Modality on Motor Tasks in Virtual Reality}, - shorttitle = {How Good Are Virtual Hands?}, - author = {Hameed, Asim and Möller, Sebastian and Perkis, Andrew}, - date = {2023}, - journaltitle = {J. Environ. Psychol.}, - volume = {92}, - doi = {10/gtk3cx} -} - -@article{harders2009calibration, - title = {Calibration, {{Registration}}, and {{Synchronization}} for {{High Precision Augmented Reality Haptics}}}, - author = {Harders, Matthias and Bianchi, Gerald and Knoerlein, Benjamin and Szekely, Gabor}, - date = {2009}, - journaltitle = {IEEE Trans. Vis. Comput. Graph.}, - volume = {15}, - number = {1}, - pages = {138--149}, - doi = {10/b3mj9n} -} - -@article{harper1964subjective, - title = {Subjective Hardness of Compliant Materials}, - author = {Harper, Roland and Stevens, S. S.}, - date = {1964}, - journaltitle = {Q. J. Exp. Psychol.}, - volume = {16}, - number = {3}, - pages = {204--215}, - doi = {10/d8xc8r} -} - -@inproceedings{hartl2013mobile, - title = {Mobile Interactive Hologram Verification}, - booktitle = {2013 {{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, - author = {Hartl, Andreas and Grubert, Jens and Schmalstieg, Dieter and Reitmayr, Gerhard}, - date = {2013}, - pages = {75--82}, - doi = {10/gt63j8} -} - -@article{hayward2004haptic, - title = {Haptic Interfaces and Devices}, - author = {Hayward, Vincent and Astley, Oliver R. and Cruz-Hernandez, Manuel and Grant, Danny and Robles-De-La-Torre, Gabriel}, - date = {2004}, - journaltitle = {Sens. Rev.}, - volume = {24}, - number = {1}, - pages = {16--29}, - doi = {10/fdxdb4} -} - -@article{hayward2007it, - title = {Do {{It Yourself Haptics}}: {{Part I}}}, - shorttitle = {Do It Yourself Haptics}, - author = {Hayward, Vincent and Maclean, Karon E.}, - date = {2007}, - journaltitle = {IEEE Robot. Autom. Mag.}, - volume = {14}, - number = {4}, - pages = {88--104}, - doi = {10/dpjr8n} -} - -@inproceedings{heo2019pseudobend, - title = {{{PseudoBend}}: {{Producing Haptic Illusions}} of {{Stretching}}, {{Bending}}, and {{Twisting Using Grain Vibrations}}}, - shorttitle = {{{PseudoBend}}}, - booktitle = {{{ACM Symp}}. {{User Interface Softw}}. {{Technol}}.}, - author = {Heo, Seongkook and Lee, Jaeyeon and Wigdor, Daniel}, - date = {2019}, - pages = {803--813}, - doi = {10/grx8dh} -} - -@inproceedings{hettiarachchi2016annexing, - title = {Annexing {{Reality}}: {{Enabling Opportunistic Use}} of {{Everyday Objects}} as {{Tangible Proxies}} in {{Augmented Reality}}}, - shorttitle = {Annexing {{Reality}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Hettiarachchi, Anuruddha and Wigdor, Daniel}, - date = {2016}, - pages = {1957--1967}, - doi = {10/gm5m8d} -} - -@inproceedings{hilliges2012holodesk, - title = {{{HoloDesk}}: Direct 3d Interactions with a Situated See-through Display}, - shorttitle = {{{HoloDesk}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Hilliges, Otmar and Kim, David and Izadi, Shahram and Weiss, Malte and Wilson, Andrew}, - date = {2012}, - pages = {2421--2430}, - doi = {10/ggfv5r} -} - -@article{ho2006contribution, - title = {Contribution of Thermal Cues to Material Discrimination and Localization}, - author = {Ho, Hsin-Ni and Jones, Lynette A.}, - date = {2006}, - journaltitle = {Percept. Psychophys.}, - volume = {68}, - number = {1}, - pages = {118--128}, - doi = {10/bfg5bm} -} - -@inproceedings{holl2018efficient, - title = {Efficient {{Physics-Based Implementation}} for {{Realistic Hand-Object Interaction}} in {{Virtual Reality}}}, - booktitle = {{{IEEE Virtual Real}}.}, - author = {Höll, Markus and Oberweger, Markus and Arth, Clemens and Lepetit, Vincent}, - date = {2018}, - pages = {175--182}, - doi = {10/gpghkr} -} - -@article{hollins1993perceptual, - title = {Perceptual Dimensions of Tactile Surface Texture: {{A}} Multidimensional Scaling Analysis}, - shorttitle = {Perceptual Dimensions of Tactile Surface Texture}, - author = {Hollins, Mark and Faldowski, Richard and Rao, Suman and Young, Forrest}, - date = {1993}, - journaltitle = {Percept. Psychophys.}, - volume = {54}, - number = {6}, - pages = {697--705}, - doi = {10/dgbpmn} -} - -@article{hollins2000evidence, - title = {Evidence for the Duplex Theory of Tactile Texture Perception}, - author = {Hollins, Mark and Risner, S. Ryan}, - date = {2000}, - journaltitle = {Percept. Psychophys.}, - volume = {62}, - number = {4}, - pages = {695--705}, - doi = {10/fm3st5} -} - -@article{hollins2000individual, - title = {Individual Differences in Perceptual Space for Tactile Textures: {{Evidence}} from Multidimensional Scaling}, - shorttitle = {Individual Differences in Perceptual Space for Tactile Textures}, - author = {Hollins, Mark and Bensmaïa, Sliman and Karlof, Kristie and Young, Forrest}, - date = {2000}, - journaltitle = {Percept. Psychophys.}, - volume = {62}, - number = {8}, - pages = {1534--1544}, - doi = {10/df6kn6} -} - -@article{iberall1997human, - title = {Human {{Prehension}} and {{Dexterous Robot Hands}}}, - author = {Iberall, Thea}, - date = {1997}, - journaltitle = {Int. J. Robot. Res.}, - volume = {16}, - number = {3}, - pages = {285--299}, - doi = {10/d648z2} -} - -@article{ito2019tactile, - title = {Tactile {{Texture Display}} with {{Vibrotactile}} and {{Electrostatic Friction Stimuli Mixed}} at {{Appropriate Ratio Presents Better Roughness Textures}}}, - author = {Ito, Ken and Okamoto, Shogo and Yamada, Yoji and Kajimoto, Hiroyuki}, - date = {2019}, - journaltitle = {ACM Trans. Appl. Percept.}, - volume = {16}, - number = {4}, - doi = {10/gr2fbm} -} - @article{jeon2009haptic, title = {Haptic {{Augmented Reality}}: {{Taxonomy}} and an {{Example}} of {{Stiffness Modulation}}}, shorttitle = {Haptic {{Augmented Reality}}}, @@ -1298,96 +365,6 @@ doi = {10/dzwg7q} } -@article{johansson1984roles, - title = {Roles of Glabrous Skin Receptors and Sensorimotor Memory in Automatic Control of Precision Grip When Lifting Rougher or More Slippery Objects}, - author = {Johansson, R.S. and Westling, G.}, - date = {1984}, - journaltitle = {Exp. Brain Res.}, - volume = {56}, - number = {3}, - doi = {10/d4j5jz} -} - -@article{johansson2009coding, - title = {Coding and Use of Tactile Signals from the Fingertips in Object Manipulation Tasks}, - author = {Johansson, Roland S. and Flanagan, J. Randall}, - date = {2009}, - journaltitle = {Nat. Rev. Neurosci.}, - volume = {10}, - number = {5}, - pages = {345--359}, - doi = {10/b9gxrq} -} - -@book{jones2006human, - title = {Human Hand Function}, - author = {Jones, Lynette A. and Lederman, Susan J.}, - date = {2006}, - pagetotal = {270} -} - -@article{jones2013application, - title = {Application of {{Psychophysical Techniques}} to {{Haptic Research}}}, - author = {Jones, Lynette A. and Tan, Hong Z.}, - date = {2013}, - journaltitle = {IEEE Trans. Haptics}, - volume = {6}, - number = {3}, - pages = {268--284}, - doi = {10/f482vb} -} - -@article{jung2021skinintegrated, - title = {Skin-{{Integrated Vibrohaptic Interfaces}} for {{Virtual}} and {{Augmented Reality}}}, - author = {Jung, Yei Hwan and Kim, Jae-Hwan and Rogers, John A.}, - date = {2021}, - journaltitle = {Adv. Funct. Mater.}, - volume = {31}, - number = {39}, - doi = {10/ghp5xk} -} - -@inproceedings{kahl2021investigation, - title = {Investigation of {{Size Variations}} in {{Optical See-through Tangible Augmented Reality}}}, - booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, - author = {Kahl, Denise and Ruble, Marc and Krüger, Antonio}, - date = {2021}, - pages = {147--155}, - doi = {10/gnc6vc} -} - -@online{kahl2023using, - title = {Using {{Abstract Tangible Proxy Objects}} for {{Interaction}} in {{Optical See-through Augmented Reality}}}, - author = {Kahl, Denise and Krüger, Antonio}, - date = {2023}, - eprint = {2308.05836}, - eprinttype = {arXiv}, - doi = {10.48550/arXiv.2308.05836}, - pubstate = {prepublished} -} - -@article{kahrimanovic2009context, - title = {Context Effects in Haptic Perception of Roughness}, - author = {Kahrimanovic, Mirela and Bergmann Tiest, Wouter M. and Kappers, Astrid M. L.}, - date = {2009}, - journaltitle = {Exp. Brain Res.}, - volume = {194}, - number = {2}, - pages = {287--297}, - doi = {10/dzjsfn} -} - -@article{kahrimanovic2010haptic, - title = {Haptic Perception of Volume and Surface Area of 3-{{D}} Objects}, - author = {Kahrimanovic, Mirela and Bergmann Tiest, Wouter M. and Kappers, Astrid M. L.}, - date = {2010}, - journaltitle = {Atten. Percept. Psychophys.}, - volume = {72}, - number = {2}, - pages = {517--527}, - doi = {10/crh7rv} -} - @inproceedings{kang2020comparative, title = {A {{Comparative Analysis}} of {{3D User Interaction}}: {{How}} to {{Move Virtual Objects}} in {{Mixed Reality}}}, shorttitle = {A {{Comparative Analysis}} of {{3D User Interaction}}}, @@ -1398,27 +375,131 @@ doi = {10/gjb2c6} } -@article{kappers2013haptic, - title = {Haptic Perception}, - author = {Kappers, Astrid M.L. and Bergmann Tiest, Wouter M.}, - date = {2013}, - journaltitle = {WIREs Cogn. Sci.}, - volume = {4}, - number = {4}, - pages = {357--374}, - doi = {10/f42xbm} +@inproceedings{lopes2018adding, + title = {Adding {{Force Feedback}} to {{Mixed Reality Experiences}} and {{Games}} Using {{Electrical Muscle Stimulation}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Lopes, Pedro and You, Sijing and Ion, Alexandra and Baudisch, Patrick}, + date = {2018}, + doi = {10/gg544c} } -@article{kawazoe2021tactile, - title = {Tactile {{Echoes}}: {{Multisensory Augmented Reality}} for the {{Hand}}}, - shorttitle = {Tactile {{Echoes}}}, - author = {Kawazoe, Anzu and Reardon, Gregory and Woo, Erin and Luca, Massimiliano Di and Visell, Yon}, - date = {2021}, +@inproceedings{pezent2020explorations, + title = {Explorations of {{Wrist Haptic Feedback}} for {{AR}}/{{VR Interactions}} with {{Tasbi}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Pezent, Evan and O'Malley, Marcia K. and Israr, Ali and Samad, Majed and Robinson, Shea and Agarwal, Priyanshu and Benko, Hrvoje and Colonnese, Nicholas}, + date = {2020}, + pages = {1--4}, + doi = {10/gg5k6q} +} + +@article{salazar2020altering, + title = {Altering the {{Stiffness}}, {{Friction}}, and {{Shape Perception}} of {{Tangible Objects}} in {{Virtual Reality Using Wearable Haptics}}}, + author = {Salazar, Steeven Villa and Pacchierotti, Claudio and family=Tinguy, given=Xavier, prefix=de, useprefix=true and Maciel, Anderson and Marchal, Maud}, + date = {2020}, journaltitle = {IEEE Trans. Haptics}, - volume = {14}, + volume = {13}, + number = {1}, + pages = {167--174}, + doi = {10/gnc6mf} +} + +@article{borst2006spring, + title = {A {{Spring Model}} for {{Whole-Hand Virtual Grasping}}}, + author = {Borst, Christoph W. and Indugula, Arun P.}, + date = {2006}, + journaltitle = {Presence}, + volume = {15}, + number = {1}, + pages = {47--61}, + doi = {10/bwdcc7} +} + +@inproceedings{besancon2017mouse, + title = {Mouse, {{Tactile}}, and {{Tangible Input}} for {{3D Manipulation}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Besançon, Lonni and Issartel, Paul and Ammi, Mehdi and Isenberg, Tobias}, + date = {2017}, + pages = {4727--4740}, + doi = {10/gpmzm8} +} + +@inproceedings{bergstrom2021how, + title = {How to {{Evaluate Object Selection}} and {{Manipulation}} in {{VR}}? {{Guidelines}} from 20 {{Years}} of {{Studies}}}, + shorttitle = {How to {{Evaluate Object Selection}} and {{Manipulation}} in {{VR}}?}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Bergström, Joanna and Dalsgaard, Tor-Salve and Alexander, Jason and Hornbæk, Kasper}, + date = {2021}, + doi = {10/gksktq} +} + +@article{sarac2022perceived, + title = {Perceived {{Intensities}} of {{Normal}} and {{Shear Skin Stimuli Using}} a {{Wearable Haptic Bracelet}}}, + author = {Sarac, Mine and Huh, Tae Myung and Choi, Hojung and Cutkosky, Mark R. and Luca, Massimiliano Di and Okamura, Allison M.}, + date = {2022}, + journaltitle = {IEEE Robot. Autom. Lett.}, + volume = {7}, + number = {3}, + pages = {6099--6106}, + doi = {10/grnbtd} +} + +@article{meli2018combining, + title = {Combining {{Wearable Finger Haptics}} and {{Augmented Reality}}: {{User Evaluation Using}} an {{External Camera}} and the {{Microsoft HoloLens}}}, + shorttitle = {Combining {{Wearable Finger Haptics}} and {{Augmented Reality}}}, + author = {Meli, Leonardo and Pacchierotti, Claudio and Salvietti, Gionata and Chinello, Francesco and Maisto, Maurizio and De Luca, Alessandro and Prattichizzo, Domenico}, + date = {2018}, + journaltitle = {IEEE Robot. Autom. Lett.}, + volume = {3}, number = {4}, - pages = {835--848}, - doi = {10/gs4tnn} + pages = {4297--4304}, + doi = {10/ghms76} +} + +@inproceedings{grubert2018effects, + title = {Effects of {{Hand Representations}} for {{Typing}} in {{Virtual Reality}}}, + booktitle = {{{IEEE Virtual Real}}.}, + author = {Grubert, Jens and Witzani, Lukas and Ofek, Eyal and Pahud, Michel and Kranz, Matthias and Kristensson, Per Ola}, + date = {2018}, + pages = {151--158}, + doi = {10/gf39qd} +} + +@inproceedings{palmer2022haptic, + title = {Haptic {{Feedback Relocation}} from the {{Fingertips}} to the {{Wrist}} for {{Two-Finger Manipulation}} in {{Virtual Reality}}}, + booktitle = {{{IEEERSJ Int}}. {{Conf}}. {{Intell}}. {{Robots Syst}}.}, + author = {Palmer, Jasmin E. and Sarac, Mine and Garza, Aaron A. and Okamura, Allison M.}, + date = {2022}, + pages = {628--633}, + doi = {10/grnbtc} +} + +@article{bermejo2021exploring, + title = {Exploring {{Button Designs}} for {{Mid-air Interaction}} in {{Virtual Reality}}: {{A Hexa-metric Evaluation}} of {{Key Representations}} and {{Multi-modal Cues}}}, + shorttitle = {Exploring {{Button Designs}} for {{Mid-air Interaction}} in {{Virtual Reality}}}, + author = {Bermejo, Carlos and Lee, Lik Hang and Chojecki, Paul and Przewozny, David and Hui, Pan}, + date = {2021}, + journaltitle = {ACM Hum.-Comput. Interact.}, + volume = {5}, + pages = {1--26}, + doi = {10/gngb8p} +} + +@inproceedings{wood2016shadowhands, + title = {{{ShadowHands}}: {{High-Fidelity Remote Hand Gesture Visualization}} Using a {{Hand Tracker}}}, + shorttitle = {{{ShadowHands}}}, + booktitle = {{{ACM Int}}. {{Conf}}. {{Interact}}. {{Surf}}. {{Spaces}}}, + author = {Wood, Erroll and Taylor, Jonathan and Fogarty, John and Fitzgibbon, Andrew and Shotton, Jamie}, + date = {2016}, + pages = {77--84}, + doi = {10/gf8vmc} +} + +@article{pham2019pen, + title = {Is the {{Pen Mightier}} than the {{Controller}}? {{A Comparison}} of {{Input Devices}} for {{Selection}} in {{Virtual}} and {{Augmented Reality}}}, + author = {Pham, Duc-Minh and Stuerzlinger, Wolfgang}, + date = {2019}, + journaltitle = {ACM Symp. Virtual Real. Softw. Technol.}, + doi = {10/gnb495} } @article{kim2018revisiting, @@ -1433,46 +514,530 @@ doi = {10/gfm7wv} } -@article{kim2021synthesizing, - title = {Synthesizing the {{Roughness}} of {{Textured Surfaces}} for an {{Encountered-Type Haptic Display Using Spatiotemporal Encoding}}}, - author = {Kim, Yaesol and Kim, Siyeon and Oh, Uran and Kim, Young J.}, +@inproceedings{ha2014wearhand, + title = {{{WeARHand}}: {{Head-worn}}, {{RGB-D}} Camera-Based, Bare-Hand User Interface with Visually Enhanced Depth Perception}, + shorttitle = {{{WeARHand}}}, + booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, + author = {Ha, Taejin and Feiner, Steven and Woo, Woontack}, + date = {2014}, + pages = {219--228}, + doi = {10/gfvfs8} +} + +@inproceedings{peillard2019studying, + title = {Studying {{Exocentric Distance Perception}} in {{Optical See-Through Augmented Reality}}}, + booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, + author = {Peillard, Etienne and Argelaguet, Ferran and Normand, Jean-Marie and Lécuyer, Anatole and Moreau, Guillaume}, + date = {2019}, + pages = {115--122}, + doi = {10/gnsw6h} +} + +@inproceedings{diaz2017designing, + title = {Designing for {{Depth Perceptions}} in {{Augmented Reality}}}, + booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, + author = {Diaz, Catherine and Walker, Michael and Szafir, Danielle Albers and Szafir, Daniel}, + date = {2017}, + pages = {111--122}, + doi = {10/gkqxb8} +} + +@inproceedings{pacchierotti2016hring, + title = {The {{hRing}}: {{A}} Wearable Haptic Device to Avoid Occlusions in Hand Tracking}, + shorttitle = {The {{hRing}}}, + booktitle = {{{IEEE Haptics Symp}}.}, + author = {Pacchierotti, Claudio and Salvietti, Gionata and Hussain, Irfan and Meli, Leonardo and Prattichizzo, Domenico}, + date = {2016}, + pages = {134--139}, + doi = {10/gfz8p4} +} + +@inproceedings{normand2018enlarging, + title = {Enlarging a {{Smartphone}} with {{AR}} to {{Create}} a {{Handheld VESAD}} ({{Virtually Extended Screen-Aligned Display}})}, + booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, + author = {Normand, Erwan and McGuffin, Michael J.}, + date = {2018}, + pages = {123--133}, + doi = {10/gm7xsc} +} + +@inproceedings{ogawa2019virtual, + title = {Virtual {{Hand Realism Affects Object Size Perception}} in {{Body-Based Scaling}}}, + booktitle = {{{IEEE Virtual Real}}.}, + author = {Ogawa, Nami and Narumi, Takuji and Hirose, Michitaka}, + date = {2019}, + pages = {519--528}, + doi = {10/gjpxzw} +} + +@inproceedings{pezent2019tasbi, + title = {Tasbi: {{Multisensory Squeeze}} and {{Vibrotactile Wrist Haptics}} for {{Augmented}} and {{Virtual Reality}}}, + shorttitle = {Tasbi}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Pezent, Evan and Israr, Ali and Samad, Majed and Robinson, Shea and Agarwal, Priyanshu and Benko, Hrvoje and Colonnese, Nick}, + date = {2019}, + pages = {1--6}, + doi = {10/gg5k5p} +} + +@inproceedings{detinguy2018enhancing, + title = {Enhancing the {{Stiffness Perception}} of {{Tangible Objects}} in {{Mixed Reality Using Wearable Haptics}}}, + booktitle = {{{IEEE Virtual Real}}.}, + author = {family=Tinguy, given=Xavier, prefix=de, useprefix=true and Pacchierotti, Claudio and Marchal, Maud and Lecuyer, Anatole}, + date = {2018}, + pages = {81--90}, + doi = {10/gf39qk} +} + +@inproceedings{bayart2008force, + title = {Force {{Feedback Virtual Painting}} on {{Real Objects}}: {{A Paradigm}} of {{Augmented Reality Haptics}}}, + shorttitle = {Force {{Feedback Virtual Painting}} on {{Real Objects}}}, + booktitle = {Haptics {{Percept}}. {{Devices Scenar}}.}, + author = {Bayart, Benjamin and Didier, Jean-Yves and Kheddar, Abderrahmane}, + date = {2008}, + pages = {776--785}, + doi = {10/dmrm4f} +} + +@inproceedings{bianchi2006high, + title = {High {{Precision Augmented Reality Haptics}}}, + booktitle = {{{EuroHaptics}}}, + author = {Bianchi, G and Knoerlein, B and Szekely, G and Harders, M}, + date = {2006}, + volume = {6}, + pages = {169--178} +} + +@article{prattichizzo2012cutaneous, + title = {Cutaneous {{Force Feedback}} as a {{Sensory Subtraction Technique}} in {{Haptics}}}, + author = {Prattichizzo, Domenico and Pacchierotti, Claudio and Rosati, Giulio}, + date = {2012}, + journaltitle = {IEEE Trans. Haptics}, + volume = {5}, + number = {4}, + pages = {289--300}, + doi = {10/f4dbwv} +} + +@article{aggravi2022decentralized, + title = {Decentralized {{Control}} of a {{Heterogeneous Human}}–{{Robot Team}} for {{Exploration}} and {{Patrolling}}}, + author = {Aggravi, Marco and Sirignano, Giuseppe and Giordano, Paolo Robuffo and Pacchierotti, Claudio}, + date = {2022}, + journaltitle = {IEEE Trans. Autom. Sci. Eng.}, + volume = {19}, + number = {4}, + pages = {3109--3125}, + doi = {10/grp3f7} +} + +@article{culbertson2018haptics, + title = {Haptics: {{The Present}} and {{Future}} of {{Artificial Touch Sensation}}}, + shorttitle = {Haptics}, + author = {Culbertson, Heather and Schorr, Samuel B. and Okamura, Allison M.}, + date = {2018}, + journaltitle = {Annu. Rev. Control Robot. Auton. Syst.}, + volume = {1}, + number = {1}, + pages = {385--409}, + doi = {10/gfz8mx} +} + +@inproceedings{umair2021exploring, + title = {Exploring {{Personalized Vibrotactile}} and {{Thermal Patterns}} for {{Affect Regulation}}}, + booktitle = {Des. {{Interact}}. {{Syst}}. {{Conf}}.}, + author = {Umair, Muhammad and Sas, Corina and Chalabianloo, Niaz and Ersoy, Cem}, + date = {2021}, + pages = {891--906}, + doi = {10/grqp4w} +} + +@article{malvezzi2021design, + title = {Design of {{Personalized Wearable Haptic Interfaces}} to {{Account}} for {{Fingertip Size}} and Shape}, + author = {Malvezzi, Monica and Chinello, Francesco and Prattichizzo, Domenico and Pacchierotti, Claudio}, + date = {2021}, + journaltitle = {IEEE Trans. Haptics}, + volume = {14}, + number = {2}, + pages = {266--272}, + doi = {10/grqp68} +} + +@article{pacchierotti2015cutaneous, + title = {Cutaneous Haptic Feedback to Ensure the Stability of Robotic Teleoperation Systems}, + author = {Pacchierotti, C. and Meli, L. and Chinello, F. and Malvezzi, M. and Prattichizzo, D.}, + date = {2015}, + journaltitle = {Int. J. Robot. Res.}, + volume = {34}, + number = {14}, + pages = {1773--1787}, + doi = {10/f72sc7} +} + +@article{jung2021skinintegrated, + title = {Skin-{{Integrated Vibrohaptic Interfaces}} for {{Virtual}} and {{Augmented Reality}}}, + author = {Jung, Yei Hwan and Kim, Jae-Hwan and Rogers, John A.}, + date = {2021}, + journaltitle = {Adv. Funct. Mater.}, + volume = {31}, + number = {39}, + doi = {10/ghp5xk} +} + +@article{chinello2020modular, + title = {A {{Modular Wearable Finger Interface}} for {{Cutaneous}} and {{Kinesthetic Interaction}}: {{Control}} and {{Evaluation}}}, + shorttitle = {A {{Modular Wearable Finger Interface}} for {{Cutaneous}} and {{Kinesthetic Interaction}}}, + author = {Chinello, Francesco and Malvezzi, Monica and Prattichizzo, Domenico and Pacchierotti, Claudio}, + date = {2020}, + journaltitle = {IEEE Trans. Ind. Electron.}, + volume = {67}, + number = {1}, + pages = {706--716}, + doi = {10/gf4g6t} +} + +@article{normand2024visuohaptic, + title = {Visuo-{{Haptic Rendering}} of the {{Hand}} during {{3D Manipulation}} in {{Augmented Reality}}}, + author = {Normand, Erwan and Pacchierotti, Claudio and Marchand, Eric and Marchal, Maud}, + date = {2024}, + journaltitle = {IEEE Trans. Haptics}, + volume = {17}, + number = {2}, + pages = {277--291}, + doi = {10/gtqcfz} +} + +@article{pezent2021syntacts, + title = {Syntacts: {{Open-Source Software}} and {{Hardware}} for {{Audio-Controlled Haptics}}}, + shorttitle = {Syntacts}, + author = {Pezent, Evan and Cambio, Brandon and O’Malley, Marcia K.}, date = {2021}, journaltitle = {IEEE Trans. Haptics}, volume = {14}, number = {1}, - pages = {32--43}, - doi = {10/gs6rbk} + pages = {225--233}, + doi = {10/grq42h} } -@incollection{kitahara2010sensory, - title = {Sensory {{Properties}} in {{Fusion}} of {{Visual}}/{{Haptic Stimuli Using Mixed Reality}}}, - booktitle = {Advances in {{Haptics}}}, - author = {Kitahara, Itaru and Nakahara, Morio and Oht, Yuichi}, +@software{culbertson2014penn, + title = {The {{Penn Haptic Texture Toolkit}} for {{Modeling}}, {{Rendering}}, and {{Evaluating Haptic Virtual Textures}}}, + author = {Culbertson, Heather and Delgado, Juan Jose Lopez and Kuchenbecker, Katherine J}, + date = {2014} +} + +@article{culbertson2017importance, + title = {Importance of {{Matching Physical Friction}}, {{Hardness}}, and {{Texture}} in {{Creating Realistic Haptic Virtual Surfaces}}}, + author = {Culbertson, Heather and Kuchenbecker, Katherine J.}, + date = {2017}, + journaltitle = {IEEE Trans. Haptics}, + volume = {10}, + number = {1}, + pages = {63--74}, + doi = {10/f9ttz9} +} + +@inproceedings{culbertson2014one, + title = {One Hundred Data-Driven Haptic Texture Models and Open-Source Methods for Rendering on {{3D}} Objects}, + booktitle = {{{IEEE Haptics Symp}}.}, + author = {Culbertson, Heather and López Delgado, Juan José and Kuchenbecker, Katherine J.}, + date = {2014}, + pages = {319--325}, + doi = {10/grq5fs} +} + +@article{culbertson2017ungrounded, + title = {Ungrounded {{Haptic Augmented Reality System}} for {{Displaying Roughness}} and {{Friction}}}, + author = {Culbertson, Heather and Kuchenbecker, Katherine J.}, + date = {2017}, + journaltitle = {IEEE ASME Trans. Mechatron.}, + volume = {22}, + number = {4}, + pages = {1839--1849}, + doi = {10/gbth8c} +} + +@article{culbertson2014modeling, + title = {Modeling and {{Rendering Realistic Textures}} from {{Unconstrained Tool-Surface Interactions}}}, + author = {Culbertson, Heather and Unwin, Juliette and Kuchenbecker, Katherine J.}, + date = {2014}, + journaltitle = {IEEE Trans. Haptics}, + volume = {7}, + number = {3}, + pages = {381--393}, + doi = {10/f6th68} +} + +@inproceedings{vardar2019fingertip, + title = {Fingertip {{Interaction Metrics Correlate}} with {{Visual}} and {{Haptic Perception}} of {{Real Surfaces}}}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Vardar, Yasemin and Wallraven, Christian and Kuchenbecker, Katherine J.}, + date = {2019}, + pages = {395--400}, + doi = {10/grq5h8} +} + +@article{gaudeni2019presenting, + title = {Presenting {{Surface Features Using}} a {{Haptic Ring}}: {{A Psychophysical Study}} on {{Relocating Vibrotactile Feedback}}}, + shorttitle = {Presenting {{Surface Features Using}} a {{Haptic Ring}}}, + author = {Gaudeni, Chiara and Meli, Leonardo and Jones, Lynette A. and Prattichizzo, Domenico}, + date = {2019}, + journaltitle = {IEEE Trans. Haptics}, + volume = {12}, + number = {4}, + pages = {428--437}, + doi = {10/grq5jd} +} + +@article{chinello2018three, + title = {A {{Three Revolute-Revolute-Spherical Wearable Fingertip Cutaneous Device}} for {{Stiffness Rendering}}}, + author = {Chinello, Francesco and Pacchierotti, Claudio and Malvezzi, Monica and Prattichizzo, Domenico}, + date = {2018-01}, + journaltitle = {IEEE Trans. Haptics}, + volume = {11}, + number = {1}, + pages = {39--50}, + doi = {10/gdc7b3} +} + +@article{romano2012creating, + title = {Creating {{Realistic Virtual Textures}} from {{Contact Acceleration Data}}}, + author = {Romano, Joseph M. and Kuchenbecker, Katherine J.}, + date = {2012}, + journaltitle = {IEEE Trans. Haptics}, + volume = {5}, + number = {2}, + pages = {109--119}, + doi = {10/d38b53} +} + +@inproceedings{culbertson2013generating, + title = {Generating Haptic Texture Models from Unconstrained Tool-Surface Interactions}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Culbertson, Heather and Unwin, Juliette and Goodman, Benjamin E. and Kuchenbecker, Katherine J.}, + date = {2013}, + pages = {295--300}, + doi = {10/grq8j4} +} + +@inproceedings{romano2010automatic, + title = {Automatic Filter Design for Synthesis of Haptic Textures from Recorded Acceleration Data}, + booktitle = {{{IEEE Int}}. {{Conf}}. {{Robot}}. {{Autom}}.}, + author = {Romano, Joseph M. and Yoshioka, Takashi and Kuchenbecker, Katherine J.}, date = {2010}, - doi = {10.5772/8712} + pages = {1815--1821}, + doi = {10/drmvvc} } -@article{klatzky1987there, - title = {There's More to Touch than Meets the Eye: {{The}} Salience of Object Attributes for Haptics with and without Vision}, - shorttitle = {There's More to Touch than Meets the Eye}, - author = {Klatzky, Roberta L. and Lederman, Susan J. and Reed, Catherine}, - date = {1987}, - journaltitle = {J. Exp. Psychol. Gen.}, - volume = {116}, - number = {4}, - pages = {356--369}, - doi = {10/dk8236} +@inproceedings{culbertson2012refined, + title = {Refined Methods for Creating Realistic Haptic Virtual Textures from Tool-Mediated Contact Acceleration Data}, + booktitle = {{{IEEE Haptics Symp}}.}, + author = {Culbertson, Heather and Romano, Joseph M. and Castillo, Pablo and Mintz, Max and Kuchenbecker, Katherine J.}, + date = {2012}, + pages = {385--391}, + doi = {10/gk9jc8} } -@article{klatzky1999tactile, - title = {Tactile Roughness Perception with a Rigid Link Interposed between Skin and Surface}, - author = {Klatzky, Roberta L. and Lederman, Susan J.}, - date = {1999}, - journaltitle = {Percept. Psychophys.}, - volume = {61}, +@online{acktronikahapcoil, + title = {{{HapCoil One}} - {{Datasheet}}}, + author = {Acktronika}, + organization = {HapCoil-One - Datasheet} +} + +@inproceedings{chan2021hasti, + title = {Hasti: {{Haptic}} and {{Audio Synthesis}} for {{Texture Interactions}}}, + shorttitle = {Hasti}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Chan, Sonny and Tymms, Chase and Colonnese, Nicholas}, + date = {2021}, + pages = {733--738}, + doi = {10/gmnd52} +} + +@inproceedings{casiez2012filter, + title = {1€ Filter: A Simple Speed-Based Low-Pass Filter for Noisy Input in Interactive Systems}, + shorttitle = {1 \&\#x20ac; Filter}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Casiez, Géry and Roussel, Nicolas and Vogel, Daniel}, + date = {2012}, + pages = {2527--2530}, + doi = {10/ggsww8} +} + +@inproceedings{okamura1998vibration, + title = {Vibration Feedback Models for Virtual Environments}, + booktitle = {{{IEEE Int}}. {{Conf}}. {{Robot}}. {{Autom}}.}, + author = {Okamura, A.M. and Dennerlein, J.T. and Howe, R.D.}, + date = {1998}, + volume = {1}, + pages = {674--679}, + doi = {10/dfqxs9} +} + +@article{harders2009calibration, + title = {Calibration, {{Registration}}, and {{Synchronization}} for {{High Precision Augmented Reality Haptics}}}, + author = {Harders, Matthias and Bianchi, Gerald and Knoerlein, Benjamin and Szekely, Gabor}, + date = {2009}, + journaltitle = {IEEE Trans. Vis. Comput. Graph.}, + volume = {15}, + number = {1}, + pages = {138--149}, + doi = {10/b3mj9n} +} + +@inproceedings{rekik2017localized, + title = {Localized {{Haptic Texture}}: {{A Rendering Technique}} Based on {{Taxels}} for {{High Density Tactile Feedback}}}, + shorttitle = {Localized {{Haptic Texture}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Rekik, Yosra and Vezzoli, Eric and Grisoni, Laurent and Giraud, Frédéric}, + date = {2017}, + pages = {5006--5015}, + doi = {10/gn2c76} +} + +@article{yoshioka2007texture, + title = {Texture Perception through Direct and Indirect Touch: {{An}} Analysis of Perceptual Space for Tactile Textures in Two Modes of Exploration}, + shorttitle = {Texture Perception through Direct and Indirect Touch}, + author = {Yoshioka, T. and Bensmaïa, S. J. and Craig, J. C. and Hsiao, S. S.}, + date = {2007}, + journaltitle = {Somatosens. Mot. Res.}, + volume = {24}, + number = {1-2}, + pages = {53--70}, + doi = {10/cf9xmk} +} + +@inproceedings{murakami2017altered, + title = {Altered Touch: Miniature Haptic Display with Force, Thermal and Tactile Feedback for Augmented Haptics}, + shorttitle = {Altered Touch}, + booktitle = {{{ACM SIGGRAPH}}}, + author = {Murakami, Takaki and Person, Tanner and Fernando, Charith Lasantha and Minamizawa, Kouta}, + date = {2017}, + doi = {10/gfz8jk} +} + +@article{richardson2022learning, + title = {Learning to {{Feel Textures}}: {{Predicting Perceptual Similarities From Unconstrained Finger-Surface Interactions}}}, + shorttitle = {Learning to {{Feel Textures}}}, + author = {Richardson, Benjamin A. and Vardar, Yasemin and Wallraven, Christian and Kuchenbecker, Katherine J.}, + date = {2022}, + journaltitle = {IEEE Trans. Haptics}, + volume = {15}, number = {4}, - pages = {591--607}, - doi = {10/bgqnrf} + pages = {705--717}, + doi = {10/grvnvd} +} + +@inproceedings{meyer2016tactile, + title = {Tactile {{Paintbrush}}: {{A}} Procedural Method for Generating Spatial Haptic Texture}, + shorttitle = {Tactile {{Paintbrush}}}, + booktitle = {{{IEEE Haptics Symp}}.}, + author = {Meyer, David J. and Peshkin, Michael A. and Colgate, J. Edward}, + date = {2016}, + pages = {259--264}, + doi = {10/gn2c8b} +} + +@article{macedo2023occlusion, + title = {Occlusion {{Handling}} in {{Augmented Reality}}: {{Past}}, {{Present}} and {{Future}}}, + shorttitle = {Occlusion {{Handling}} in {{Augmented Reality}}}, + author = {Macedo, Márcio C. F. and Apolinário, Antônio L.}, + date = {2023}, + journaltitle = {IEEE Trans. Vis. Comput. Graph.}, + volume = {29}, + number = {2}, + pages = {1590--1609}, + doi = {10/grvp5j} +} + +@article{alma2023perceptual, + title = {Perceptual {{Substitution}} Based {{Haptic Texture Rendering}} for {{Narrow-Band Reproduction}}}, + author = {Alma, U. Alican and Rosenkranz, Robert and Altinsoy, M. Ercan}, + date = {2023}, + journaltitle = {IEEE Trans. Haptics}, + pages = {204--214}, + doi = {10/grw7ms} +} + +@article{bergmanntiest2007haptic, + title = {Haptic and Visual Perception of Roughness}, + author = {Bergmann Tiest, Wouter M. and Kappers, Astrid M. L.}, + date = {2007}, + journaltitle = {Acta Psychologica}, + volume = {124}, + number = {2}, + pages = {177--189}, + doi = {10/bhq6p4} +} + +@inproceedings{alma2019perceived, + title = {Perceived {{Roughness}} of {{Band-Limited Noise}}, {{Single}}, and {{Multiple Sinusoids Compared}} to {{Recorded Vibration}}}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Alma, Ugur Alican and Altinsoy, Ercan}, + date = {2019}, + pages = {337--342}, + doi = {10/gr2dft} +} + +@article{otake2022tactile, + title = {Tactile {{Texture Display Combining Vibrotactile}} and {{Electrostatic-friction Stimuli}}: {{Substantial Effects}} on {{Realism}} and {{Moderate Effects}} on {{Behavioral Responses}}}, + shorttitle = {Tactile {{Texture Display Combining Vibrotactile}} and {{Electrostatic-friction Stimuli}}}, + author = {Otake, Kazuya and Okamoto, Shogo and Akiyama, Yasuhiro and Yamada, Yoji}, + date = {2022}, + journaltitle = {ACM Trans. Appl. Percept.}, + volume = {19}, + number = {4}, + doi = {10/gr2d9n} +} + +@article{bernard2020detection, + title = {Detection of {{Friction-Modulated Textures}} Is {{Limited}} by {{Vibrotactile Sensitivity}}}, + author = {Bernard, Corentin and Ystad, Sølvi and Monnoyer, Jocelyn and Wiertlewski, Michaël}, + date = {2020}, + journaltitle = {IEEE Trans. Haptics}, + volume = {13}, + number = {3}, + pages = {542--551}, + doi = {10/gr2d9t} +} + +@article{ito2019tactile, + title = {Tactile {{Texture Display}} with {{Vibrotactile}} and {{Electrostatic Friction Stimuli Mixed}} at {{Appropriate Ratio Presents Better Roughness Textures}}}, + author = {Ito, Ken and Okamoto, Shogo and Yamada, Yoji and Kajimoto, Hiroyuki}, + date = {2019}, + journaltitle = {ACM Trans. Appl. Percept.}, + volume = {16}, + number = {4}, + doi = {10/gr2fbm} +} + +@article{wiertlewski2011spatial, + title = {The {{Spatial Spectrum}} of {{Tangential Skin Displacement Can Encode Tactual Texture}}}, + author = {Wiertlewski, Michael and Lozada, José and Hayward, Vincent}, + date = {2011}, + journaltitle = {IEEE Trans. Robot.}, + volume = {27}, + number = {3}, + pages = {461--472}, + doi = {10/bf9875} +} + +@article{baumgartner2013visual, + title = {Visual and {{Haptic Representations}} of {{Material Properties}}}, + author = {Baumgartner, Elisabeth and Wiebel, Christiane B. and Gegenfurtner, Karl R.}, + date = {2013}, + journaltitle = {Multisensory Res.}, + volume = {26}, + number = {5}, + pages = {429--455}, + doi = {10/gr3bjw} +} + +@inproceedings{culbertson2015should, + title = {Should Haptic Texture Vibrations Respond to User Force and Speed?}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Culbertson, Heather and Kuchenbecker, Katherine J.}, + date = {2015}, + pages = {106--112}, + doi = {10/grx8dx} } @article{klatzky2003feeling, @@ -1487,65 +1052,46 @@ doi = {10/dv23qm} } -@incollection{klatzky2010multisensory, - title = {Multisensory {{Texture Perception}}}, - booktitle = {Multisensory {{Object Perception}} in the {{Primate Brain}}}, - author = {Klatzky, Roberta L. and Lederman, Susan J.}, - editor = {Kaiser, Jochen and Naumer, Marcus Johannes}, - date = {2010}, - pages = {211--230}, - doi = {10.1007/978-1-4419-5615-6_12} +@article{lawrence2007haptic, + title = {Haptic {{Roughness Perception}} of {{Linear Gratings}} via {{Bare Finger}} or {{Rigid Probe}}}, + author = {Lawrence, Michael A and Kitada, Ryo and Klatzky, Roberta L and Lederman, Susan J}, + date = {2007}, + journaltitle = {Perception}, + volume = {36}, + number = {4}, + pages = {547--557}, + doi = {10/dpd2xn} } -@article{klein2020predicting, - title = {Predicting Precision Grip Grasp Locations on Three-Dimensional Objects}, - author = {Klein, Lina K. and Maiello, Guido and Paulun, Vivian C. and Fleming, Roland W.}, - editor = {Einhäuser, Wolfgang}, - date = {2020}, - journaltitle = {PLOS Comput. Biol.}, - volume = {16}, - number = {8}, - doi = {10/gsjc26} -} - -@inproceedings{knorlein2009influence, - title = {Influence of Visual and Haptic Delays on Stiffness Perception in Augmented Reality}, - booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, - author = {Knorlein, B. and Di Luca, M. and Harders, M.}, - date = {2009}, - pages = {49--52}, - doi = {10/bbpd33} -} - -@inproceedings{konyo2005tactile, - title = {A Tactile Synthesis Method Using Multiple Frequency Vibrations for Representing Virtual Touch}, - booktitle = {{{IEEERSJ Int}}. {{Conf}}. {{Intell}}. {{Robots Syst}}.}, - author = {Konyo, M. and Tadokoro, S. and Yoshida, A. and Saiwaki, N.}, - date = {2005}, - pages = {3965--3971}, - doi = {10/dbpvrh} -} - -@article{kourtesis2022electrotactile, - title = {Electrotactile Feedback Applications for Hand and Arm Interactions}, - author = {Kourtesis, Panagiotis and Argelaguet, Ferran and Vizcay, Sebastian and Marchal, Maud and Pacchierotti, Claudio}, - date = {2022}, +@article{unger2011roughness, + title = {Roughness {{Perception}} in {{Virtual Textures}}}, + author = {Unger, Bertram and Hollis, Ralph and Klatzky, Roberta}, + date = {2011}, journaltitle = {IEEE Trans. Haptics}, - volume = {15}, - number = {3}, - pages = {479--496}, - doi = {10/gszmh6} + volume = {4}, + number = {2}, + pages = {122--133}, + doi = {10/d5djtx} } -@article{krichenbauer2018augmented, - title = {Augmented {{Reality}} versus {{Virtual Reality}} for {{3D Object Manipulation}}}, - author = {Krichenbauer, Max and Yamamoto, Goshiro and Taketom, Takafumi and Sandor, Christian and Kato, Hirokazu}, - date = {2018}, - journaltitle = {IEEE Trans. Vis. Comput. Graph.}, - volume = {24}, - number = {2}, - pages = {1038--1048}, - doi = {10/ggfv5d} +@inproceedings{degraen2019enhancing, + title = {Enhancing {{Texture Perception}} in {{Virtual Reality Using 3D-Printed Hair Structures}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Degraen, Donald and Zenner, André and Krüger, Antonio}, + date = {2019}, + doi = {10/gfz8mf} +} + +@article{choi2013vibrotactile, + title = {Vibrotactile {{Display}}: {{Perception}}, {{Technology}}, and {{Applications}}}, + shorttitle = {Vibrotactile {{Display}}}, + author = {Choi, Seungmoon and Kuchenbecker, Katherine J.}, + date = {2013}, + journaltitle = {Proc. IEEE}, + volume = {101}, + number = {9}, + pages = {2093--2104}, + doi = {10/f5btt5} } @article{kuchenbecker2006improving, @@ -1570,82 +1116,120 @@ doi = {10.1007/978-3-642-19457-3_15} } -@inproceedings{kwon2009effects, - title = {Effects of Sizes and Shapes of Props in Tangible Augmented Reality}, - booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, - author = {Kwon, Eun and Kim, Gerard J. and Lee, Sangyoon}, - date = {2009}, - pages = {201--202}, - doi = {10/cpwf5p} +@incollection{kitahara2010sensory, + title = {Sensory {{Properties}} in {{Fusion}} of {{Visual}}/{{Haptic Stimuli Using Mixed Reality}}}, + booktitle = {Advances in {{Haptics}}}, + author = {Kitahara, Itaru and Nakahara, Morio and Oht, Yuichi}, + date = {2010}, + doi = {10.5772/8712} } -@article{lakatos1999haptic, - title = {Haptic Form Perception: {{Relative}} Salience of Local and Global Features}, - shorttitle = {Haptic Form Perception}, - author = {Lakatos, Stephen and Marks, Lawrence E.}, +@inproceedings{park2011perceptual, + title = {Perceptual Space of Amplitude-Modulated Vibrotactile Stimuli}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Park, Gunhyuk and Choi, Seungmoon}, + date = {2011}, + pages = {59--64}, + doi = {10/fshqps} +} + +@inproceedings{sabnis2023haptic, + title = {Haptic {{Servos}}: {{Self-Contained Vibrotactile Rendering System}} for {{Creating}} or {{Augmenting Material Experiences}}}, + shorttitle = {Haptic {{Servos}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Sabnis, Nihar and Wittchen, Dennis and Reed, Courtney N. and Pourjafarian, Narjes and Steimle, Jürgen and Strohmeier, Paul}, + date = {2023}, + doi = {10/gr6cwm} +} + +@article{guruswamy2010iir, + title = {{{IIR Filter Models}} of {{Haptic Vibration Textures}}}, + author = {Guruswamy, Vijaya Lakshmi and Lang, Jochen and Lee, Won-Sook}, + date = {2010}, + journaltitle = {IEEE Trans. Instrum. Meas.}, + volume = {60}, + number = {1}, + pages = {93--103}, + doi = {10/b7rbf7} +} + +@inproceedings{asano2012vibrotactile, + title = {Vibrotactile Display Approach That Modifies Roughness Sensations of Real Textures}, + booktitle = {{{IEEE Int}}. {{Symp}}. {{Robot Hum}}. {{Interact}}. {{Commun}}.}, + author = {Asano, Shuhei and Okamoto, Shogo and Matsuura, Yoichiro and Nagano, Hikaru and Yamada, Yoji}, + date = {2012}, + pages = {1001--1006}, + doi = {10/grx8c6} +} + +@inproceedings{konyo2005tactile, + title = {A Tactile Synthesis Method Using Multiple Frequency Vibrations for Representing Virtual Touch}, + booktitle = {{{IEEERSJ Int}}. {{Conf}}. {{Intell}}. {{Robots Syst}}.}, + author = {Konyo, M. and Tadokoro, S. and Yoshida, A. and Saiwaki, N.}, + date = {2005}, + pages = {3965--3971}, + doi = {10/dbpvrh} +} + +@article{klatzky1999tactile, + title = {Tactile Roughness Perception with a Rigid Link Interposed between Skin and Surface}, + author = {Klatzky, Roberta L. and Lederman, Susan J.}, date = {1999}, journaltitle = {Percept. Psychophys.}, volume = {61}, - number = {5}, - pages = {895--908}, - doi = {10/bsb3pj} -} - -@book{laviola20173d, - title = {{{3D User Interfaces}}: {{Theory}} and {{Practice}}}, - shorttitle = {{{3D User Interfaces}}}, - author = {LaViola, Joseph J. and Kruijff, Ernst and McMahan, Ryan P. and Bowman, Doug and Poupyrev, Ivan P.}, - date = {2017}, - eprint = {fxWSDgAAQBAJ}, - eprinttype = {googlebooks}, - pagetotal = {882} -} - -@book{laviolajr20173d, - title = {{{3D}} User Interfaces: Theory and Practice}, - shorttitle = {{{3D}} User Interfaces}, - author = {LaViola Jr, Joseph J. and Kruijff, Ernst and McMahan, Ryan P. and Bowman, Doug and Poupyrev, Ivan P.}, - date = {2017} -} - -@article{lawrence2007haptic, - title = {Haptic {{Roughness Perception}} of {{Linear Gratings}} via {{Bare Finger}} or {{Rigid Probe}}}, - author = {Lawrence, Michael A and Kitada, Ryo and Klatzky, Roberta L and Lederman, Susan J}, - date = {2007}, - journaltitle = {Perception}, - volume = {36}, number = {4}, - pages = {547--557}, - doi = {10/dpd2xn} + pages = {591--607}, + doi = {10/bgqnrf} } -@article{lebrun2024study, - title = {Study of the {{Impact}} of {{Visual}} and {{Haptic Sensory Sensitivities}} on the {{Detection}} of {{Visuo-Haptic Illusions}} in {{Virtual Reality Étude}} de l’impact Des Sensibilités Sensorielles Visuelles et Haptiques Sur La Détection d’illusions Visuo-Haptiques En Réalité Virtuelle}, - author = {Lebrun, Flavien and Haliyo, Sinan and Auvray, Malika and Gueorguiev, David and Bailly, Gilles}, - date = {2024} +@inproceedings{heo2019pseudobend, + title = {{{PseudoBend}}: {{Producing Haptic Illusions}} of {{Stretching}}, {{Bending}}, and {{Twisting Using Grain Vibrations}}}, + shorttitle = {{{PseudoBend}}}, + booktitle = {{{ACM Symp}}. {{User Interface Softw}}. {{Technol}}.}, + author = {Heo, Seongkook and Lee, Jaeyeon and Wigdor, Daniel}, + date = {2019}, + pages = {803--813}, + doi = {10/grx8dh} } -@article{lederman1972fingertip, - title = {Fingertip Force, Surface Geometry, and the Perception of Roughness by Active Touch}, - author = {Lederman, Susan J. and Taylor, M. M.}, - date = {1972}, - journaltitle = {Percept. Psychophys.}, - volume = {12}, - number = {5}, - pages = {401--408}, - doi = {10/cbxns3} +@article{azuma1997survey, + title = {A Survey of Augmented Reality}, + author = {Azuma, Ronald T.}, + date = {1997}, + journaltitle = {Presence Teleoperators Virtual Environ.}, + volume = {6}, + number = {4}, + pages = {355--385}, + doi = {10/gd7gb4} } -@article{lederman1987hand, - title = {Hand Movements: {{A}} Window into Haptic Object Recognition}, - shorttitle = {Hand Movements}, - author = {Lederman, Susan J and Klatzky, Roberta L}, - date = {1987}, - journaltitle = {Cognit. Psychol.}, - volume = {19}, - number = {3}, - pages = {342--368}, - doi = {10/c54f3f} +@article{hayward2004haptic, + title = {Haptic Interfaces and Devices}, + author = {Hayward, Vincent and Astley, Oliver R. and Cruz-Hernandez, Manuel and Grant, Danny and Robles-De-La-Torre, Gabriel}, + date = {2004}, + journaltitle = {Sens. Rev.}, + volume = {24}, + number = {1}, + pages = {16--29}, + doi = {10/fdxdb4} +} + +@inproceedings{furio2017hobit, + title = {Hobit: {{Hybrid}} Optical Bench for Innovative Teaching}, + shorttitle = {Hobit}, + booktitle = {Proc. 2017 {{Chi Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Furió, David and Fleck, Stéphanie and Bousquet, Bruno and Guillet, Jean-Paul and Canioni, Lionel and Hachet, Martin}, + date = {2017}, + pages = {949--959}, + doi = {10/ghq79w} +} + +@incollection{muller2014survey, + title = {Survey {{Research}} in {{HCI}}}, + booktitle = {Ways of {{Knowing}} in {{HCI}}}, + author = {Müller, Hendrik and Sedley, Aaron and Ferrall-Nunge, Elizabeth}, + date = {2014}, + pages = {229--266} } @article{lederman2009haptic, @@ -1660,37 +1244,6 @@ doi = {10/dv7dbx} } -@article{lee2021wearable, - title = {Wearable {{Haptic Device}} for {{Stiffness Rendering}} of {{Virtual Objects}} in {{Augmented Reality}}}, - author = {Lee, Yongseok and Lee, Somang and Lee, Dongjun}, - date = {2021}, - journaltitle = {Appl. Sci.}, - volume = {11}, - number = {15}, - pages = {6932}, - doi = {10/gnn2d7} -} - -@inproceedings{leonardis2015wearable, - title = {A Wearable Fingertip Haptic Device with 3 {{DoF}} Asymmetric 3-{{RSR}} Kinematics}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Leonardis, Daniele and Solazzi, Massimiliano and Bortone, Ilaria and Frisoli, Antonio}, - date = {2015}, - pages = {388--393}, - doi = {10/gvbmkq} -} - -@article{leonardis20173rsr, - title = {A 3-{{RSR Haptic Wearable Device}} for {{Rendering Fingertip Contact Forces}}}, - author = {Leonardis, Daniele and Solazzi, Massimiliano and Bortone, Ilaria and Frisoli, Antonio}, - date = {2017}, - journaltitle = {IEEE Trans. Haptics}, - volume = {10}, - number = {3}, - pages = {305--316}, - doi = {10/gb2d5b} -} - @inproceedings{lesaki2008psychophysical, title = {Psychophysical {{Influence}} on {{Tactual Impression}} by {{Mixed-Reality Visual Stimulation}}}, booktitle = {{{IEEE Virtual Real}}.}, @@ -1700,258 +1253,23 @@ doi = {10/b235h4} } -@inproceedings{lin2016need, - title = {Need a Hand? How Appearance Affects the Virtual Hand Illusion}, - shorttitle = {Need a Hand?}, - booktitle = {{{ACM Symp}}. {{Appl}}. {{Percept}}.}, - author = {Lin, Lorraine and Jörg, Sophie}, - date = {2016}, - pages = {69--76}, - doi = {10/gh4tbn} +@incollection{hachisu2012augmentation, + title = {Augmentation of {{Material Property}} by {{Modulating Vibration Resulting}} from {{Tapping}}}, + booktitle = {Haptics: {{Perception}}, {{Devices}}, {{Mobility}}, and {{Communication}}}, + author = {Hachisu, Taku and Sato, Michi and Fukushima, Shogo and Kajimoto, Hiroyuki}, + date = {2012}, + volume = {7282}, + pages = {173--180}, + doi = {10.1007/978-3-642-31401-8_16} } -@thesis{lincoln2017low, - title = {Low {{Latency Displays}} for {{Augmented Reality}}}, - author = {Lincoln, Peter}, - date = {2017} -} - -@inproceedings{lopes2018adding, - title = {Adding {{Force Feedback}} to {{Mixed Reality Experiences}} and {{Games}} Using {{Electrical Muscle Stimulation}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Lopes, Pedro and You, Sijing and Ion, Alexandra and Baudisch, Patrick}, - date = {2018}, - doi = {10/gg544c} -} - -@article{macedo2023occlusion, - title = {Occlusion {{Handling}} in {{Augmented Reality}}: {{Past}}, {{Present}} and {{Future}}}, - shorttitle = {Occlusion {{Handling}} in {{Augmented Reality}}}, - author = {Macedo, Márcio C. F. and Apolinário, Antônio L.}, - date = {2023}, - journaltitle = {IEEE Trans. Vis. Comput. Graph.}, - volume = {29}, - number = {2}, - pages = {1590--1609}, - doi = {10/grvp5j} -} - -@article{maclean2008it, - title = {Do {{It Yourself Haptics}}: {{Part II}}}, - shorttitle = {Do {{It Yourself Haptics}}}, - author = {Maclean, Karon E. and Hayward, Vincent}, - date = {2008}, - journaltitle = {IEEE Robot. Autom. Mag.}, - volume = {15}, - number = {1}, - pages = {104--119}, - doi = {10/dz653x} -} - -@article{maisto2017evaluation, - title = {Evaluation of {{Wearable Haptic Systems}} for the {{Fingers}} in {{Augmented Reality Applications}}}, - author = {Maisto, Maurizio and Pacchierotti, Claudio and Chinello, Francesco and Salvietti, Gionata and De Luca, Alessandro and Prattichizzo, Domenico}, - date = {2017}, - journaltitle = {IEEE Trans. Haptics}, - volume = {10}, - number = {4}, - pages = {511--522}, - doi = {10/gcr9xm} -} - -@article{malvezzi2021design, - title = {Design of {{Personalized Wearable Haptic Interfaces}} to {{Account}} for {{Fingertip Size}} and Shape}, - author = {Malvezzi, Monica and Chinello, Francesco and Prattichizzo, Domenico and Pacchierotti, Claudio}, - date = {2021}, - journaltitle = {IEEE Trans. Haptics}, - volume = {14}, - number = {2}, - pages = {266--272}, - doi = {10/grqp68} -} - -@article{manfredi2014natural, - title = {Natural Scenes in Tactile Texture}, - author = {Manfredi, Louise R. and Saal, Hannes P. and Brown, Kyler J. and Zielinski, Mark C. and Dammann, John F. and Polashock, Vicky S. and Bensmaia, Sliman J.}, - date = {2014}, - journaltitle = {J. Neurophysiol.}, - volume = {111}, - number = {9}, - pages = {1792--1802}, - doi = {10/f5zzhq} -} - -@incollection{marchal2022virtual, - title = {Virtual {{Reality}} and {{Haptics}}}, - booktitle = {Robotics {{Goes MOOC}}}, - author = {Marchal, Maud and Pacchierotti, Claudio}, - editor = {Siciliano, Bruno}, - date = {2022} -} - -@article{marchand2016pose, - title = {Pose {{Estimation}} for {{Augmented Reality}}: {{A Hands-On Survey}}}, - shorttitle = {Pose {{Estimation}} for {{Augmented Reality}}}, - author = {Marchand, Eric and Uchiyama, Hideaki and Spindler, Fabien}, - date = {2016}, - journaltitle = {IEEE Trans. Vis. Comput. Graph.}, - volume = {22}, - number = {12}, - pages = {2633--2651}, - doi = {10/f9bd8n} -} - -@inproceedings{mason2001reaching, - title = {Reaching Movements to Augmented and Graphic Objects in Virtual Environments}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Mason, Andrea H. and Walji, Masuma A. and Lee, Elaine J. and MacKenzie, Christine L.}, - date = {2001}, - pages = {426--433}, - doi = {10/cg8jvg} -} - -@article{mcglone2007discriminative, - title = {Discriminative Touch and Emotional Touch}, - author = {McGlone, Francis and Vallbo, Ake B. and Olausson, Hakan and Loken, Line and Wessberg, Johan}, - date = {2007}, - journaltitle = {Can. J. Exp. Psychol. Rev. Can. Psychol. Expérimentale}, - volume = {61}, - number = {3}, - pages = {173--183}, - doi = {10/fgrgc6} -} - -@inproceedings{mcmahan2014dynamic, - title = {Dynamic Modeling and Control of Voice-Coil Actuators for High-Fidelity Display of Haptic Vibrations}, - booktitle = {{{IEEE Haptics Symp}}.}, - author = {McMahan, William and Kuchenbecker, Katherine J.}, - date = {2014}, - pages = {115--122}, - doi = {10/gsvm8m} -} - -@inproceedings{meli2014wearable, - title = {Wearable Haptics and Hand Tracking via an {{RGB-D}} Camera for Immersive Tactile Experiences}, - booktitle = {{{ACM SIGGRAPH Posters}}}, - author = {Meli, Leonardo and Scheggi, Stefano and Pacchierotti, Claudio and Prattichizzo, Domenico}, - date = {2014}, - doi = {10/grmp3d} -} - -@article{meli2018combining, - title = {Combining {{Wearable Finger Haptics}} and {{Augmented Reality}}: {{User Evaluation Using}} an {{External Camera}} and the {{Microsoft HoloLens}}}, - shorttitle = {Combining {{Wearable Finger Haptics}} and {{Augmented Reality}}}, - author = {Meli, Leonardo and Pacchierotti, Claudio and Salvietti, Gionata and Chinello, Francesco and Maisto, Maurizio and De Luca, Alessandro and Prattichizzo, Domenico}, - date = {2018}, - journaltitle = {IEEE Robot. Autom. Lett.}, - volume = {3}, - number = {4}, - pages = {4297--4304}, - doi = {10/ghms76} -} - -@article{messaoud2016relation, - title = {Relation between Human Perceived Friction and Finger Friction Characteristics}, - author = {Messaoud, Wael Ben and Bueno, Marie-Ange and Lemaire-Semail, Betty}, - date = {2016}, - journaltitle = {Tribol. Int.}, - volume = {98}, - pages = {261--269}, - doi = {10/f8nr2s} -} - -@inproceedings{meyer2016tactile, - title = {Tactile {{Paintbrush}}: {{A}} Procedural Method for Generating Spatial Haptic Texture}, - shorttitle = {Tactile {{Paintbrush}}}, - booktitle = {{{IEEE Haptics Symp}}.}, - author = {Meyer, David J. and Peshkin, Michael A. and Colgate, J. Edward}, - date = {2016}, - pages = {259--264}, - doi = {10/gn2c8b} -} - -@article{milgram1994taxonomy, - title = {A Taxonomy of Mixed Reality Visual Displays}, - author = {Milgram, Paul and Kishino, Fumio}, - date = {1994}, - series = {{{IEICE Transactions}} on {{Information Systems}}}, - volume = {77}, - number = {12} -} - -@inproceedings{minamizawa2007gravity, - title = {Gravity Grabber: Wearable Haptic Display to Present Virtual Mass Sensation}, - shorttitle = {Gravity Grabber}, - booktitle = {{{ACM SIGGRAPH}}}, - author = {Minamizawa, Kouta and Fukamachi, Souichiro and Kajimoto, Hiroyuki and Kawakami, Naoki and Tachi, Susumu}, - date = {2007}, - pages = {8}, - doi = {10/grmtv8} -} - -@inproceedings{mullenbach2014exploring, - title = {Exploring Affective Communication through Variable-Friction Surface Haptics}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Mullenbach, Joe and Shultz, Craig and Colgate, J. Edward and Piper, Anne Marie}, - date = {2014}, - pages = {3963--3972}, - doi = {10/gtsjkp} -} - -@article{muller2014survey, - title = {Survey Research in {{HCI}}}, - author = {Müller, Hendrik and Sedley, Aaron and Ferrall-Nunge, Elizabeth}, - date = {2014}, - journaltitle = {Ways Knowing HCI}, - pages = {229--266}, - doi = {10/gp6zmm} -} - -@inproceedings{murakami2017altered, - title = {Altered Touch: Miniature Haptic Display with Force, Thermal and Tactile Feedback for Augmented Haptics}, - shorttitle = {Altered Touch}, - booktitle = {{{ACM SIGGRAPH}}}, - author = {Murakami, Takaki and Person, Tanner and Fernando, Charith Lasantha and Minamizawa, Kouta}, - date = {2017}, - doi = {10/gfz8jk} -} - -@article{norman2004visual, - title = {The Visual and Haptic Perception of Natural Object Shape}, - author = {Norman, J Farley and Norman, Hideko F and Clayton, Anna Marie and Lianekhammy, Joann}, - date = {2004}, - journaltitle = {Percept. Psychophys.}, - volume = {66}, - number = {2}, - pages = {342--351}, - doi = {10/fc4pfb} -} - -@inproceedings{normand2018enlarging, - title = {Enlarging a {{Smartphone}} with {{AR}} to {{Create}} a {{Handheld VESAD}} ({{Virtually Extended Screen-Aligned Display}})}, +@inproceedings{kwon2009effects, + title = {Effects of Sizes and Shapes of Props in Tangible Augmented Reality}, booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, - author = {Normand, Erwan and McGuffin, Michael J.}, - date = {2018}, - pages = {123--133}, - doi = {10/gm7xsc} -} - -@inproceedings{normand2024augmenting, - title = {Augmenting the {{Texture Perception}} of {{Tangible Surfaces}} in {{Augmented Reality}} Using {{Vibrotactile Haptic Stimuli}}}, - booktitle = {{{EuroHaptics}}}, - author = {Normand, Erwan and Pacchierotti, Claudio and Marchand, Eric and Marchal, Maud}, - date = {2024} -} - -@article{normand2024visuohaptic, - title = {Visuo-{{Haptic Rendering}} of the {{Hand}} during {{3D Manipulation}} in {{Augmented Reality}}}, - author = {Normand, Erwan and Pacchierotti, Claudio and Marchand, Eric and Marchal, Maud}, - date = {2024}, - journaltitle = {IEEE Trans. Haptics}, - volume = {17}, - number = {2}, - pages = {277--291}, - doi = {10/gtqcfz} + author = {Kwon, Eun and Kim, Gerard J. and Lee, Sangyoon}, + date = {2009}, + pages = {201--202}, + doi = {10/cpwf5p} } @inproceedings{ochiai2016crossfield, @@ -1964,35 +1282,102 @@ doi = {10/gnh6jv} } -@inproceedings{ogawa2019virtual, - title = {Virtual {{Hand Realism Affects Object Size Perception}} in {{Body-Based Scaling}}}, - booktitle = {{{IEEE Virtual Real}}.}, - author = {Ogawa, Nami and Narumi, Takuji and Hirose, Michitaka}, - date = {2019}, - pages = {519--528}, - doi = {10/gjpxzw} +@inproceedings{strohmeier2018pulse, + title = {From {{Pulse Trains}} to "{{Coloring}} with {{Vibrations}}": {{Motion Mappings}} for {{Mid-Air Haptic Textures}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Strohmeier, Paul and Boring, Sebastian and Hornbæk, Kasper}, + date = {2018}, + doi = {10/gjbvmp} } -@article{ogawa2021effect, - title = {Effect of {{Avatar Appearance}} on {{Detection Thresholds}} for {{Remapped Hand Movements}}}, - author = {Ogawa, Nami and Narumi, Takuji and Hirose, Michitaka}, - date = {2021}, - journaltitle = {IEEE Trans. Vis. Comput. Graph.}, - volume = {27}, +@inproceedings{gunther2022smooth, + title = {Smooth as {{Steel Wool}}: {{Effects}} of {{Visual Stimuli}} on the {{Haptic Perception}} of {{Roughness}} in {{Virtual Reality}}}, + shorttitle = {Smooth as {{Steel Wool}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Günther, Sebastian and Rasch, Julian and Schön, Dominik and Müller, Florian and Schmitz, Martin and Riemann, Jan and Matviienko, Andrii and Mühlhäuser, Max}, + date = {2022}, + doi = {10/gsdsnb} +} + +@article{distefano2022roughness, + title = {Roughness Perception: {{A}} Multisensory/Crossmodal Perspective}, + shorttitle = {Roughness Perception}, + author = {Di Stefano, Nicola and Spence, Charles}, + date = {2022}, + journaltitle = {Atten. Percept. Psychophys.}, + volume = {84}, number = {7}, - pages = {3182--3197}, - doi = {10/gtfhf4} + pages = {2087--2114}, + doi = {10/gtrgcm} } -@article{okamoto2009detectability, - title = {Detectability and {{Perceptual Consequences}} of {{Delayed Feedback}} in a {{Vibrotactile Texture Display}}}, - author = {Okamoto, S. and Konyo, M. and Saga, S. and Tadokoro, S.}, - date = {2009}, - journaltitle = {IEEE Trans. Haptics}, - volume = {2}, - number = {2}, - pages = {73--84}, - doi = {10/cxkhzk} +@inproceedings{dariosecq2020investigating, + title = {Investigating the {{Semantic Perceptual Space}} of {{Synthetic Textures}} on an {{Ultrasonic}} Based {{Haptic Tablet}}}, + booktitle = {Int. {{Jt}}. {{Conf}}. {{Comput}}. {{Vis}}. {{Imaging Comput}}. {{Graph}}. {{Theory Appl}}.}, + author = {Dariosecq, Maxime and Plénacoste, Patricia and Berthaut, Florent and Kaci, Anis and Giraud, Frédéric}, + date = {2020}, + pages = {45--52}, + doi = {10.5220/0008979800450052} +} + +@book{bimber2005spatial, + title = {Spatial Augmented Reality: Merging Real and Virtual Worlds}, + shorttitle = {Spatial Augmented Reality}, + author = {Bimber, Oliver and Raskar, Ramesh}, + date = {2005}, + pagetotal = {369} +} + +@inproceedings{choi2016wolverine, + title = {Wolverine: {{A}} Wearable Haptic Interface for Grasping in Virtual Reality}, + shorttitle = {Wolverine}, + booktitle = {{{IEEERSJ Int}}. {{Conf}}. {{Intell}}. {{Robots Syst}}.}, + author = {Choi, Inrak and Hawkes, Elliot W. and Christensen, David L. and Ploch, Christopher J. and Follmer, Sean}, + date = {2016}, + pages = {986--993}, + doi = {10/gnc6m5} +} + +@book{laviolajr20173d, + title = {{{3D}} User Interfaces: Theory and Practice}, + shorttitle = {{{3D}} User Interfaces}, + author = {LaViola Jr, Joseph J. and Kruijff, Ernst and McMahan, Ryan P. and Bowman, Doug and Poupyrev, Ivan P.}, + date = {2017} +} + +@online{picovibe304116, + title = {Model {{No}}. 304-116 - {{Product Data Sheet}}}, + author = {Precision Micro Drive} +} + +@inproceedings{fradin2023humans, + title = {Humans {{Struggle}} to {{Perceive Congruence}} in {{Visuo-Haptic Textures}}}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Fradin, Jenna and Haliyo, Sinan and Gueorguiev, David}, + date = {2023}, + pages = {128--133} +} + +@article{turk2014multimodal, + title = {Multimodal Interaction: {{A}} Review}, + shorttitle = {Multimodal Interaction}, + author = {Turk, Matthew}, + date = {2014}, + journaltitle = {Pattern Recognit. Lett.}, + volume = {36}, + pages = {189--195}, + doi = {10/f5mh52} +} + +@article{klein2020predicting, + title = {Predicting Precision Grip Grasp Locations on Three-Dimensional Objects}, + author = {Klein, Lina K. and Maiello, Guido and Paulun, Vivian C. and Fleming, Roland W.}, + editor = {Einhäuser, Wolfgang}, + date = {2020}, + journaltitle = {PLOS Comput. Biol.}, + volume = {16}, + number = {8}, + doi = {10/gsjc26} } @article{okamoto2013psychophysical, @@ -2006,500 +1391,166 @@ doi = {10/f4sbkz} } -@inproceedings{okamura1998vibration, - title = {Vibration Feedback Models for Virtual Environments}, - booktitle = {{{IEEE Int}}. {{Conf}}. {{Robot}}. {{Autom}}.}, - author = {Okamura, A.M. and Dennerlein, J.T. and Howe, R.D.}, - date = {1998}, - volume = {1}, - pages = {674--679}, - doi = {10/dfqxs9} -} - -@incollection{ota2020surface, - title = {Surface {{Roughness Judgment During Finger Exploration Is Changeable}} by {{Visual Oscillations}}}, - booktitle = {Haptics: {{Science}}, {{Technology}}, {{Applications}}}, - author = {Ota, Yusuke and Ujitoko, Yusuke and Ban, Yuki and Sakurai, Sho and Hirota, Koichi}, - editor = {Nisky, Ilana and Hartcher-O’Brien, Jess and Wiertlewski, Michaël and Smeets, Jeroen}, - date = {2020}, - volume = {12272}, - pages = {33--41}, - doi = {10.1007/978-3-030-58147-3_4} -} - -@article{otake2022tactile, - title = {Tactile {{Texture Display Combining Vibrotactile}} and {{Electrostatic-friction Stimuli}}: {{Substantial Effects}} on {{Realism}} and {{Moderate Effects}} on {{Behavioral Responses}}}, - shorttitle = {Tactile {{Texture Display Combining Vibrotactile}} and {{Electrostatic-friction Stimuli}}}, - author = {Otake, Kazuya and Okamoto, Shogo and Akiyama, Yasuhiro and Yamada, Yoji}, - date = {2022}, - journaltitle = {ACM Trans. Appl. Percept.}, - volume = {19}, - number = {4}, - doi = {10/gr2d9n} -} - -@article{pacchierotti2015cutaneous, - title = {Cutaneous Haptic Feedback to Ensure the Stability of Robotic Teleoperation Systems}, - author = {Pacchierotti, C. and Meli, L. and Chinello, F. and Malvezzi, M. and Prattichizzo, D.}, - date = {2015}, - journaltitle = {Int. J. Robot. Res.}, - volume = {34}, - number = {14}, - pages = {1773--1787}, - doi = {10/f72sc7} -} - -@inproceedings{pacchierotti2016hring, - title = {The {{hRing}}: {{A}} Wearable Haptic Device to Avoid Occlusions in Hand Tracking}, - shorttitle = {The {{hRing}}}, - booktitle = {{{IEEE Haptics Symp}}.}, - author = {Pacchierotti, Claudio and Salvietti, Gionata and Hussain, Irfan and Meli, Leonardo and Prattichizzo, Domenico}, - date = {2016}, - pages = {134--139}, - doi = {10/gfz8p4} -} - -@article{pacchierotti2017wearable, - title = {Wearable {{Haptic Systems}} for the {{Fingertip}} and the {{Hand}}: {{Taxonomy}}, {{Review}}, and {{Perspectives}}}, - shorttitle = {Wearable {{Haptic Systems}} for the {{Fingertip}} and the {{Hand}}}, - author = {Pacchierotti, Claudio and Sinclair, Stephen and Solazzi, Massimiliano and Frisoli, Antonio and Hayward, Vincent and Prattichizzo, Domenico}, - date = {2017}, - journaltitle = {IEEE Trans. Haptics}, - volume = {10}, - number = {4}, - pages = {580--600}, - doi = {10/gcsbdr} -} - -@article{pacchierotti2024haptics, - title = {Haptics in the {{Metaverse}}: {{Haptic}} Feedback for {{Virtual}}, {{Augmented}}, {{Mixed}}, and {{eXtended Realities}}}, - author = {Pacchierotti, Claudio and Chinello, Francesco and Koumaditis, Konstantinos and Luca, Massimiliano Di and Ofek, Eyal and Georgiou, Orestis}, - date = {2024}, - journaltitle = {IEEE Trans. Haptics} -} - -@inproceedings{palmer2022haptic, - title = {Haptic {{Feedback Relocation}} from the {{Fingertips}} to the {{Wrist}} for {{Two-Finger Manipulation}} in {{Virtual Reality}}}, - booktitle = {{{IEEERSJ Int}}. {{Conf}}. {{Intell}}. {{Robots Syst}}.}, - author = {Palmer, Jasmin E. and Sarac, Mine and Garza, Aaron A. and Okamura, Allison M.}, - date = {2022}, - pages = {628--633}, - doi = {10/grnbtc} -} - -@inproceedings{park2011perceptual, - title = {Perceptual Space of Amplitude-Modulated Vibrotactile Stimuli}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Park, Gunhyuk and Choi, Seungmoon}, - date = {2011}, - pages = {59--64}, - doi = {10/fshqps} -} - -@inproceedings{peillard2019studying, - title = {Studying {{Exocentric Distance Perception}} in {{Optical See-Through Augmented Reality}}}, - booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, - author = {Peillard, Etienne and Argelaguet, Ferran and Normand, Jean-Marie and Lécuyer, Anatole and Moreau, Guillaume}, - date = {2019}, - pages = {115--122}, - doi = {10/gnsw6h} -} - -@article{perez2017optimizationbased, - title = {Optimization-{{Based Wearable Tactile Rendering}}}, - author = {Perez, Alvaro G. and Lobo, Daniel and Chinello, Francesco and Cirio, Gabriel and Malvezzi, Monica and Martin, Jose San and Prattichizzo, Domenico and Otaduy, Miguel A.}, - date = {2017-04-01}, - journaltitle = {IEEE Trans. Haptics}, - volume = {10}, - number = {2}, - pages = {254--264}, - doi = {10/gbksxp} -} - -@inproceedings{pezent2019tasbi, - title = {Tasbi: {{Multisensory Squeeze}} and {{Vibrotactile Wrist Haptics}} for {{Augmented}} and {{Virtual Reality}}}, - shorttitle = {Tasbi}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Pezent, Evan and Israr, Ali and Samad, Majed and Robinson, Shea and Agarwal, Priyanshu and Benko, Hrvoje and Colonnese, Nick}, - date = {2019}, - pages = {1--6}, - doi = {10/gg5k5p} -} - -@inproceedings{pezent2020explorations, - title = {Explorations of {{Wrist Haptic Feedback}} for {{AR}}/{{VR Interactions}} with {{Tasbi}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Pezent, Evan and O'Malley, Marcia K. and Israr, Ali and Samad, Majed and Robinson, Shea and Agarwal, Priyanshu and Benko, Hrvoje and Colonnese, Nicholas}, - date = {2020}, - pages = {1--4}, - doi = {10/gg5k6q} -} - -@article{pezent2021syntacts, - title = {Syntacts: {{Open-Source Software}} and {{Hardware}} for {{Audio-Controlled Haptics}}}, - shorttitle = {Syntacts}, - author = {Pezent, Evan and Cambio, Brandon and O’Malley, Marcia K.}, - date = {2021}, - journaltitle = {IEEE Trans. Haptics}, - volume = {14}, - number = {1}, - pages = {225--233}, - doi = {10/grq42h} -} - -@article{pham2019pen, - title = {Is the {{Pen Mightier}} than the {{Controller}}? {{A Comparison}} of {{Input Devices}} for {{Selection}} in {{Virtual}} and {{Augmented Reality}}}, - author = {Pham, Duc-Minh and Stuerzlinger, Wolfgang}, - date = {2019}, - journaltitle = {ACM Symp. Virtual Real. Softw. Technol.}, - doi = {10/gnb495} -} - -@article{picard2006partial, - title = {Partial Perceptual Equivalence between Vision and Touch for Texture Information}, - author = {Picard, Delphine}, - date = {2006}, - journaltitle = {Acta Psychol. (Amst.)}, - volume = {121}, - number = {3}, - pages = {227--248}, - doi = {10/fj5rt3} -} - -@online{picovibe304116, - title = {Model {{No}}. 304-116 - {{Product Data Sheet}}}, - author = {Precision Micro Drive} -} - -@inproceedings{piumsomboon2013userdefined, - title = {User-{{Defined Gestures}} for {{Augmented Reality}}}, - booktitle = {Hum.-{{Comput}}. {{Interact}}.}, - author = {Piumsomboon, Thammathip and Clark, Adrian and Billinghurst, Mark and Cockburn, Andy}, - date = {2013}, - pages = {282--299}, - doi = {10/gnc6md} -} - -@inproceedings{piumsomboon2014graspshell, - title = {Grasp-{{Shell}} vs Gesture-Speech: {{A}} Comparison of Direct and Indirect Natural Interaction Techniques in Augmented Reality}, - shorttitle = {Grasp-{{Shell}} vs Gesture-Speech}, - booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, - author = {Piumsomboon, Thammathip and Altimira, David and Kim, Hyungon and Clark, Adrian and Lee, Gun and Billinghurst, Mark}, - date = {2014}, - pages = {73--82}, - doi = {10/ggfwpt} -} - -@article{plaisier2009salient, - title = {Salient Features in 3-{{D}} Haptic Shape Perception}, - author = {Plaisier, Myrthe A. and Bergmann Tiest, Wouter M. and Kappers, Astrid M. L.}, +@article{okamoto2009detectability, + title = {Detectability and {{Perceptual Consequences}} of {{Delayed Feedback}} in a {{Vibrotactile Texture Display}}}, + author = {Okamoto, S. and Konyo, M. and Saga, S. and Tadokoro, S.}, date = {2009}, - journaltitle = {Atten. Percept. Psychophys.}, - volume = {71}, - number = {2}, - pages = {421--430}, - doi = {10/dhvxgw} -} - -@inproceedings{prachyabrued2014visual, - title = {Visual Feedback for Virtual Grasping}, - booktitle = {{{IEEE Symp}}. {{3D User Interfaces}}}, - author = {Prachyabrued, Mores and Borst, Christoph W.}, - date = {2014}, - pages = {19--26}, - doi = {10/gpjmbs} -} - -@article{prattichizzo2012cutaneous, - title = {Cutaneous {{Force Feedback}} as a {{Sensory Subtraction Technique}} in {{Haptics}}}, - author = {Prattichizzo, Domenico and Pacchierotti, Claudio and Rosati, Giulio}, - date = {2012}, journaltitle = {IEEE Trans. Haptics}, - volume = {5}, - number = {4}, - pages = {289--300}, - doi = {10/f4dbwv} + volume = {2}, + number = {2}, + pages = {73--84}, + doi = {10/cxkhzk} } -@article{pressman2007perception, - title = {Perception of {{Delayed Stiffness}}}, - author = {Pressman, Assaf and Welty, Leah J. and Karniel, Amir and Mussa-Ivaldi, Ferdinando A.}, - date = {2007}, - journaltitle = {Int. J. Robot. Res.}, - volume = {26}, - number = {11-12}, - pages = {1191--1203}, - doi = {10/b33wgg} +@article{ferro2023deconstructing, + title = {Deconstructing {{Haptic Feedback Information}} in {{Robot-Assisted Needle Insertion}} in {{Soft Tissues}}}, + author = {Ferro, Marco and Pacchierotti, Claudio and Rossi, Sara and Vendittelli, Marilena}, + date = {2023}, + journaltitle = {IEEE Trans. Haptics}, + pages = {536--542}, + doi = {10/gss9tn} } -@article{punpongsanon2015softar, - title = {{{SoftAR}}: {{Visually Manipulating Haptic Softness Perception}} in {{Spatial Augmented Reality}}}, - shorttitle = {{{SoftAR}}}, - author = {Punpongsanon, Parinya and Iwai, Daisuke and Sato, Kosuke}, - date = {2015}, +@online{kahl2023using, + title = {Using {{Abstract Tangible Proxy Objects}} for {{Interaction}} in {{Optical See-through Augmented Reality}}}, + author = {Kahl, Denise and Krüger, Antonio}, + date = {2023}, + eprint = {2308.05836}, + eprinttype = {arXiv}, + doi = {10.48550/arXiv.2308.05836}, + pubstate = {prepublished} +} + +@inproceedings{tinguy2019how, + title = {How {{Different Tangible}} and {{Virtual Objects Can Be While Still Feeling}} the {{Same}}?}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Tinguy, Xavier De and Pacchierotti, Claudio and Emily, Mathieu and Chevalier, Mathilde and Guignardat, Aurelie and Guillaudeux, Morgan and Six, Chloe and Lecuyer, Anatole and Marchal, Maud}, + date = {2019}, + pages = {580--585}, + doi = {10/gm5m8f} +} + +@inproceedings{normand2024augmenting, + title = {Augmenting the {{Texture Perception}} of {{Tangible Surfaces}} in {{Augmented Reality}} Using {{Vibrotactile Haptic Stimuli}}}, + booktitle = {{{EuroHaptics}}}, + author = {Normand, Erwan and Pacchierotti, Claudio and Marchand, Eric and Marchal, Maud}, + date = {2024} +} + +@inproceedings{mcmahan2014dynamic, + title = {Dynamic Modeling and Control of Voice-Coil Actuators for High-Fidelity Display of Haptic Vibrations}, + booktitle = {{{IEEE Haptics Symp}}.}, + author = {McMahan, William and Kuchenbecker, Katherine J.}, + date = {2014}, + pages = {115--122}, + doi = {10/gsvm8m} +} + +@article{choi2021augmenting, + title = {Augmenting {{Perceived Softness}} of {{Haptic Proxy Objects Through Transient Vibration}} and {{Visuo-Haptic Illusion}} in {{Virtual Reality}}}, + author = {Choi, Inrak and Zhao, Yiwei and Gonzalez, Eric J. and Follmer, Sean}, + date = {2021}, journaltitle = {IEEE Trans. Vis. Comput. Graph.}, - volume = {21}, - number = {11}, - pages = {1279--1288}, - doi = {10/f7tsxm} + volume = {27}, + number = {12}, + pages = {4387--4400}, + doi = {10/grx8df} } -@inproceedings{rekik2017localized, - title = {Localized {{Haptic Texture}}: {{A Rendering Technique}} Based on {{Taxels}} for {{High Density Tactile Feedback}}}, - shorttitle = {Localized {{Haptic Texture}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Rekik, Yosra and Vezzoli, Eric and Grisoni, Laurent and Giraud, Frédéric}, - date = {2017}, - pages = {5006--5015}, - doi = {10/gn2c76} +@incollection{gueorguiev2022larger, + title = {Larger {{Skin-Surface Contact Through}} a {{Fingertip Wearable Improves Roughness Perception}}}, + booktitle = {Haptics: {{Science}}, {{Technology}}, {{Applications}}}, + author = {Gueorguiev, David and Javot, Bernard and Spiers, Adam and Kuchenbecker, Katherine J.}, + editor = {Seifi, Hasti and Kappers, Astrid M. L. and Schneider, Oliver and Drewing, Knut and Pacchierotti, Claudio and Abbasimoshaei, Alireza and Huisman, Gijs and Kern, Thorsten A.}, + date = {2022}, + volume = {13235}, + pages = {171--179}, + doi = {10.1007/978-3-031-06249-0_20} } -@article{richardson2022learning, - title = {Learning to {{Feel Textures}}: {{Predicting Perceptual Similarities From Unconstrained Finger-Surface Interactions}}}, - shorttitle = {Learning to {{Feel Textures}}}, - author = {Richardson, Benjamin A. and Vardar, Yasemin and Wallraven, Christian and Kuchenbecker, Katherine J.}, +@incollection{marchal2022virtual, + title = {Virtual {{Reality}} and {{Haptics}}}, + booktitle = {Robotics {{Goes MOOC}}}, + author = {Marchal, Maud and Pacchierotti, Claudio}, + editor = {Siciliano, Bruno}, + date = {2022} +} + +@article{kourtesis2022electrotactile, + title = {Electrotactile Feedback Applications for Hand and Arm Interactions}, + author = {Kourtesis, Panagiotis and Argelaguet, Ferran and Vizcay, Sebastian and Marchal, Maud and Pacchierotti, Claudio}, date = {2022}, journaltitle = {IEEE Trans. Haptics}, volume = {15}, - number = {4}, - pages = {705--717}, - doi = {10/grvnvd} + number = {3}, + pages = {479--496}, + doi = {10/gszmh6} } -@inproceedings{romano2010automatic, - title = {Automatic Filter Design for Synthesis of Haptic Textures from Recorded Acceleration Data}, - booktitle = {{{IEEE Int}}. {{Conf}}. {{Robot}}. {{Autom}}.}, - author = {Romano, Joseph M. and Yoshioka, Takashi and Kuchenbecker, Katherine J.}, - date = {2010}, - pages = {1815--1821}, - doi = {10/drmvvc} +@article{yanagisawa2015effects, + title = {Effects of {{Visual Expectation}} on {{Perceived Tactile Perception}}: {{An Evaluation Method}} of {{Surface Texture}} with {{Expectation Effect}}}, + author = {Yanagisawa, Hideyoshi and Takatsuji, Kenji}, + date = {2015}, + journaltitle = {Int. J. Des.}, + volume = {9}, + number = {1} } -@article{romano2012creating, - title = {Creating {{Realistic Virtual Textures}} from {{Contact Acceleration Data}}}, - author = {Romano, Joseph M. and Kuchenbecker, Katherine J.}, - date = {2012}, - journaltitle = {IEEE Trans. Haptics}, - volume = {5}, - number = {2}, - pages = {109--119}, - doi = {10/d38b53} -} - -@inproceedings{roo2017inner, - title = {Inner {{Garden}}: {{Connecting Inner States}} to a {{Mixed Reality Sandbox}} for {{Mindfulness}}}, - shorttitle = {Inner {{Garden}}}, +@inproceedings{blaga2020too, + title = {Too {{Hot}} to {{Handle}}: {{An Evaluation}} of the {{Effect}} of {{Thermal Visual Representation}} on {{User Grasping Interaction}} in {{Virtual Reality}}}, + shorttitle = {Too {{Hot}} to {{Handle}}}, booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Roo, Joan Sol and Gervais, Renaud and Frey, Jeremy and Hachet, Martin}, - date = {2017}, - pages = {1459--1470}, - doi = {10/ggrd6q} -} - -@inproceedings{sabnis2023haptic, - title = {Haptic {{Servos}}: {{Self-Contained Vibrotactile Rendering System}} for {{Creating}} or {{Augmenting Material Experiences}}}, - shorttitle = {Haptic {{Servos}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Sabnis, Nihar and Wittchen, Dennis and Reed, Courtney N. and Pourjafarian, Narjes and Steimle, Jürgen and Strohmeier, Paul}, - date = {2023}, - doi = {10/gr6cwm} -} - -@inproceedings{saito2021contact, - title = {Contact {{Web Status Presentation}} for {{Freehand Grasping}} in {{MR-based Robot-teaching}}}, - booktitle = {{{ACMIEEE Int}}. {{Conf}}. {{Hum}}.-{{Robot Interact}}.}, - author = {Saito, Daichi and Wake, Naoki and Sasabuchi, Kazuhiro and Koike, Hideki and Ikeuchi, Katsushi}, - date = {2021}, - pages = {167--171}, - doi = {10/gqd687} -} - -@article{salazar2020altering, - title = {Altering the {{Stiffness}}, {{Friction}}, and {{Shape Perception}} of {{Tangible Objects}} in {{Virtual Reality Using Wearable Haptics}}}, - author = {Salazar, Steeven Villa and Pacchierotti, Claudio and family=Tinguy, given=Xavier, prefix=de, useprefix=true and Maciel, Anderson and Marchal, Maud}, + author = {Blaga, Andreea Dalia and Frutos-Pascual, Maite and Creed, Chris and Williams, Ian}, date = {2020}, - journaltitle = {IEEE Trans. Haptics}, - volume = {13}, - number = {1}, - pages = {167--174}, - doi = {10/gnc6mf} + pages = {1--16}, + doi = {10/gs4p4x} } -@article{sarac2022perceived, - title = {Perceived {{Intensities}} of {{Normal}} and {{Shear Skin Stimuli Using}} a {{Wearable Haptic Bracelet}}}, - author = {Sarac, Mine and Huh, Tae Myung and Choi, Hojung and Cutkosky, Mark R. and Luca, Massimiliano Di and Okamura, Allison M.}, - date = {2022}, - journaltitle = {IEEE Robot. Autom. Lett.}, - volume = {7}, - number = {3}, - pages = {6099--6106}, - doi = {10/grnbtd} -} - -@article{sarakoglou2012high, - title = {A {{High Performance Tactile Feedback Display}} and {{Its Integration}} in {{Teleoperation}}}, - author = {Sarakoglou, Ioannis and Garcia-Hernandez, Nadia and Tsagarakis, Nikos G. and Caldwell, Darwin G.}, - date = {2012}, - journaltitle = {IEEE Trans. Haptics}, - volume = {5}, - number = {3}, - pages = {252--263}, - doi = {10/f36hcv} -} - -@inproceedings{schafer2017transfer, - title = {Transfer Properties of Touch Elicited Waves: {{Effect}} of Posture and Contact Conditions}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Schafer, Harald and Wells, Zachary and Shao, Yitian and Visell, Yon}, - date = {2017}, - pages = {546--551}, - doi = {10/gtp6ht} -} - -@inproceedings{scheggi2010shape, - title = {Shape and Weight Rendering for Haptic {{Augmented Reality}}}, - booktitle = {Int. {{Symp}}. {{Robot Hum}}. {{Interact}}. {{Commun}}.}, - author = {Scheggi, Stefano and Salvietti, Gionata and Prattichizzo, Domenico}, - date = {2010}, - pages = {44--49}, - doi = {10/cvnvmw} -} - -@inproceedings{schorr2017fingertip, - title = {Fingertip {{Tactile Devices}} for {{Virtual Object Manipulation}} and {{Exploration}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Schorr, Samuel B. and Okamura, Allison M.}, - date = {2017}, - pages = {3115--3119}, - doi = {10/gfz8k8} -} - -@inproceedings{schwind2017these, - title = {"{{These}} Are Not My Hands!": {{Effect}} of {{Gender}} on the {{Perception}} of {{Avatar Hands}} in {{Virtual Reality}}}, - shorttitle = {"{{These}} Are Not My Hands!"}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Schwind, Valentin and Knierim, Pascal and Tasci, Cagri and Franczak, Patrick and Haas, Nico and Henze, Niels}, - date = {2017}, - pages = {1577--1582}, - doi = {10/gftc5m} -} - -@inproceedings{schwind2018touch, - title = {Touch with Foreign Hands: The Effect of Virtual Hand Appearance on Visual-Haptic Integration}, - shorttitle = {Touch with Foreign Hands}, - booktitle = {{{ACM Symp}}. {{Appl}}. {{Percept}}.}, - author = {Schwind, Valentin and Lin, Lorraine and Di Luca, Massimiliano and Jörg, Sophie and Hillis, James}, - date = {2018}, - pages = {1--8}, - doi = {10/gjzbjw} -} - -@inproceedings{schwind2019understanding, - title = {Understanding {{Visual-Haptic Integration}} of {{Avatar Hands Using}} a {{Fitts}}' {{Law Task}} in {{Virtual Reality}}}, - booktitle = {Mensch {{Comput}}.}, - author = {Schwind, Valentin and Leusmann, Jan and Henze, Niels}, - date = {2019}, - pages = {211--222}, - doi = {10/ghms5p} -} - -@article{skarbez2021revisiting, - title = {Revisiting {{Milgram}} and {{Kishino}}'s {{Reality-Virtuality Continuum}}}, - author = {Skarbez, Richard and Smith, Missie and Whitton, Mary C.}, +@article{kawazoe2021tactile, + title = {Tactile {{Echoes}}: {{Multisensory Augmented Reality}} for the {{Hand}}}, + shorttitle = {Tactile {{Echoes}}}, + author = {Kawazoe, Anzu and Reardon, Gregory and Woo, Erin and Luca, Massimiliano Di and Visell, Yon}, date = {2021}, - journaltitle = {Front. Virtual Real.}, - volume = {2}, - doi = {10/gjrd9w} + journaltitle = {IEEE Trans. Haptics}, + volume = {14}, + number = {4}, + pages = {835--848}, + doi = {10/gs4tnn} } -@article{slater2009place, - title = {Place Illusion and Plausibility Can Lead to Realistic Behaviour in Immersive Virtual Environments}, - author = {Slater, Mel}, - date = {2009}, - journaltitle = {Philos. Trans. R. Soc. B Biol. Sci.}, - volume = {364}, - number = {1535}, - pages = {3549--3557}, - doi = {10/df44xc} +@article{hollins1993perceptual, + title = {Perceptual Dimensions of Tactile Surface Texture: {{A}} Multidimensional Scaling Analysis}, + shorttitle = {Perceptual Dimensions of Tactile Surface Texture}, + author = {Hollins, Mark and Faldowski, Richard and Rao, Suman and Young, Forrest}, + date = {1993}, + journaltitle = {Percept. Psychophys.}, + volume = {54}, + number = {6}, + pages = {697--705}, + doi = {10/dgbpmn} } -@article{slater2022separate, - title = {A {{Separate Reality}}: {{An Update}} on {{Place Illusion}} and {{Plausibility}} in {{Virtual Reality}}}, - shorttitle = {A {{Separate Reality}}}, - author = {Slater, Mel and Banakou, Domna and Beacco, Alejandro and Gallego, Jaime and Macia-Varela, Francisco and Oliva, Ramon}, - date = {2022}, - journaltitle = {Front. Virtual Real.}, - volume = {3}, - pages = {914392}, - doi = {10/gthn7h} +@article{hollins2000individual, + title = {Individual Differences in Perceptual Space for Tactile Textures: {{Evidence}} from Multidimensional Scaling}, + shorttitle = {Individual Differences in Perceptual Space for Tactile Textures}, + author = {Hollins, Mark and Bensmaïa, Sliman and Karlof, Kristie and Young, Forrest}, + date = {2000}, + journaltitle = {Percept. Psychophys.}, + volume = {62}, + number = {8}, + pages = {1534--1544}, + doi = {10/df6kn6} } -@article{smith1996subjective, - title = {Subjective Scaling of Smooth Surface Friction}, - author = {Smith, A. M. and Scott, S. H.}, - date = {1996}, - journaltitle = {J. Neurophysiol.}, - volume = {75}, - number = {5}, - pages = {1957--1962}, - doi = {10/gt9fwt} -} - -@inproceedings{speicher2019what, - title = {What Is {{Mixed Reality}}?}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Speicher, Maximilian and Hall, Brian D. and Nebeling, Michael}, - date = {2019}, - doi = {10/ggp859} -} - -@inproceedings{strohmeier2017generating, - title = {Generating {{Haptic Textures}} with a {{Vibrotactile Actuator}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Strohmeier, Paul and Hornbæk, Kasper}, - date = {2017}, - pages = {4994--5005}, - doi = {10/gfz8md} -} - -@inproceedings{strohmeier2018pulse, - title = {From {{Pulse Trains}} to "{{Coloring}} with {{Vibrations}}": {{Motion Mappings}} for {{Mid-Air Haptic Textures}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Strohmeier, Paul and Boring, Sebastian and Hornbæk, Kasper}, - date = {2018}, - doi = {10/gjbvmp} -} - -@inproceedings{sutherland1965ultimate, - title = {The {{Ultimate Display}}}, - booktitle = {{{IFIP Congr}}.}, - author = {Sutherland, Ivan E.}, - date = {1965}, - pages = {506--508} -} - -@inproceedings{sutherland1968headmounted, - title = {A Head-Mounted Three Dimensional Display}, - booktitle = {Fall {{Jt}}. {{Comput}}. {{Conf}}.}, - author = {Sutherland, Ivan E.}, - date = {1968}, - pages = {757--764} -} - -@article{sutherland1970computer, - title = {Computer {{Displays}}}, - author = {Sutherland, Ivan E.}, - date = {1970}, - journaltitle = {Sci. Am.}, - doi = {10/bnk34d} -} - -@inproceedings{suzuki2014grasping, - title = {Grasping a Virtual Object with a Bare Hand}, - booktitle = {{{ACM SIGGRAPH Posters}}}, - author = {Suzuki, Sota and Suzuki, Haruto and Sato, Mie}, - date = {2014}, - doi = {10/gqd263} +@article{bergmanntiest2006analysis, + title = {Analysis of Haptic Perception of Materials by Multidimensional Scaling and Physical Measurements of Roughness and Compressibility}, + author = {Bergmann Tiest, Wouter M. and Kappers, Astrid M.L.}, + date = {2006}, + journaltitle = {Acta Psychol. (Amst.)}, + volume = {121}, + number = {1}, + pages = {1--20}, + doi = {10/cfkq6d} } @article{tanaka2014contact, @@ -2514,41 +1565,56 @@ doi = {10/f53jcg} } -@inproceedings{teng2021touch, - title = {Touch\&{{Fold}}: {{A Foldable Haptic Actuator}} for {{Rendering Touch}} in {{Mixed Reality}}}, - shorttitle = {Touch\&{{Fold}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Teng, Shan-Yuan and Li, Pengyu and Nith, Romain and Fonseca, Joshua and Lopes, Pedro}, - date = {2021}, - doi = {10/gkskqb} +@article{kahrimanovic2009context, + title = {Context Effects in Haptic Perception of Roughness}, + author = {Kahrimanovic, Mirela and Bergmann Tiest, Wouter M. and Kappers, Astrid M. L.}, + date = {2009}, + journaltitle = {Exp. Brain Res.}, + volume = {194}, + number = {2}, + pages = {287--297}, + doi = {10/dzjsfn} } -@inproceedings{tinguy2019how, - title = {How {{Different Tangible}} and {{Virtual Objects Can Be While Still Feeling}} the {{Same}}?}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Tinguy, Xavier De and Pacchierotti, Claudio and Emily, Mathieu and Chevalier, Mathilde and Guignardat, Aurelie and Guillaudeux, Morgan and Six, Chloe and Lecuyer, Anatole and Marchal, Maud}, - date = {2019}, - pages = {580--585}, - doi = {10/gm5m8f} +@article{kappers2013haptic, + title = {Haptic Perception}, + author = {Kappers, Astrid M.L. and Bergmann Tiest, Wouter M.}, + date = {2013}, + journaltitle = {WIREs Cogn. Sci.}, + volume = {4}, + number = {4}, + pages = {357--374}, + doi = {10/f42xbm} } -@inproceedings{tran2024survey, - title = {A {{Survey On Measuring Presence}} in {{Mixed Reality}}}, - booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, - author = {Tran, Tanh Quang and Langlotz, Tobias and Regenbrecht, Holger}, - date = {2024}, - doi = {10/gt56cs} +@article{bergmanntiest2010tactual, + title = {Tactual Perception of Material Properties}, + author = {Bergmann Tiest, Wouter M.}, + date = {2010}, + journaltitle = {Vision Res.}, + volume = {50}, + number = {24}, + pages = {2775--2782}, + doi = {10/d8psfz} } -@article{turk2014multimodal, - title = {Multimodal Interaction: {{A}} Review}, - shorttitle = {Multimodal Interaction}, - author = {Turk, Matthew}, - date = {2014}, - journaltitle = {Pattern Recognit. Lett.}, - volume = {36}, - pages = {189--195}, - doi = {10/f5mh52} +@incollection{ota2020surface, + title = {Surface {{Roughness Judgment During Finger Exploration Is Changeable}} by {{Visual Oscillations}}}, + booktitle = {Haptics: {{Science}}, {{Technology}}, {{Applications}}}, + author = {Ota, Yusuke and Ujitoko, Yusuke and Ban, Yuki and Sakurai, Sho and Hirota, Koichi}, + editor = {Nisky, Ilana and Hartcher-O’Brien, Jess and Wiertlewski, Michaël and Smeets, Jeroen}, + date = {2020}, + volume = {12272}, + pages = {33--41}, + doi = {10.1007/978-3-030-58147-3_4} +} + +@inproceedings{brahimaj2023crossmodal, + title = {Cross-Modal Interaction of Stereoscopy, Surface Deformation and Tactile Feedback on the Perception of Texture Roughness in an Active Touch Condition}, + booktitle = {Int. {{Francoph}}. {{Conf}}. {{Hum}}.-{{Comput}}. {{Interact}}.}, + author = {Brahimaj, Detjon and Berthaut, Florent and Giraud, Frederic and Semail, Betty}, + date = {2023}, + doi = {10/gs6rbg} } @article{ujitoko2019modulating, @@ -2562,97 +1628,151 @@ doi = {10/grx8cz} } -@article{ujitoko2020development, - title = {Development of {{Finger-Mounted High-Density Pin-Array Haptic Display}}}, - author = {Ujitoko, Yusuke and Taniguchi, Takaaki and Sakurai, Sho and Hirota, Koichi}, - date = {2020}, - journaltitle = {IEEE Access}, - volume = {8}, - pages = {145107--145114}, - doi = {10/gvbk35} +@article{kim2021synthesizing, + title = {Synthesizing the {{Roughness}} of {{Textured Surfaces}} for an {{Encountered-Type Haptic Display Using Spatiotemporal Encoding}}}, + author = {Kim, Yaesol and Kim, Siyeon and Oh, Uran and Kim, Young J.}, + date = {2021}, + journaltitle = {IEEE Trans. Haptics}, + volume = {14}, + number = {1}, + pages = {32--43}, + doi = {10/gs6rbk} } -@article{ujitoko2021survey, - title = {Survey of {{Pseudo-Haptics}}: {{Haptic Feedback Design}} and {{Application Proposals}}}, - shorttitle = {Survey of {{Pseudo-Haptics}}}, - author = {Ujitoko, Yusuke and Ban, Yuki}, +@inproceedings{strohmeier2017generating, + title = {Generating {{Haptic Textures}} with a {{Vibrotactile Actuator}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Strohmeier, Paul and Hornbæk, Kasper}, + date = {2017}, + pages = {4994--5005}, + doi = {10/gfz8md} +} + +@article{fernandes2012tactual, + title = {Tactual Perception: A Review of Experimental Variables and Procedures}, + shorttitle = {Tactual Perception}, + author = {Fernandes, Alexandra M. and Albuquerque, Pedro B.}, + date = {2012}, + journaltitle = {Cogn. Process.}, + volume = {13}, + number = {4}, + pages = {285--301}, + doi = {10/f4fdm6} +} + +@article{friesen2024perceived, + title = {Perceived Realism of Virtual Textures Rendered by a Vibrotactile Wearable Ring Display}, + author = {Friesen, Rebecca Fenton and Vardar, Yasemin}, + date = {2024}, + journaltitle = {IEEE Trans. Haptics}, + volume = {17}, + number = {2}, + pages = {216--226}, + doi = {10/gs6x4v} +} + +@article{friesen2021building, + title = {Building a {{Navigable Fine Texture Design Space}}}, + author = {Friesen, Rebecca Fenton and Klatzky, Roberta L. and Peshkin, Michael A. and Colgate, J. Edward}, date = {2021}, journaltitle = {IEEE Trans. Haptics}, volume = {14}, number = {4}, - pages = {699--711}, - doi = {10/gsmq9x} + pages = {897--906}, + doi = {10/gs6x54} } -@inproceedings{umair2021exploring, - title = {Exploring {{Personalized Vibrotactile}} and {{Thermal Patterns}} for {{Affect Regulation}}}, - booktitle = {Des. {{Interact}}. {{Syst}}. {{Conf}}.}, - author = {Umair, Muhammad and Sas, Corina and Chalabianloo, Niaz and Ersoy, Cem}, - date = {2021}, - pages = {891--906}, - doi = {10/grqp4w} +@article{greenspon2020effect, + title = {Effect of Scanning Speed on Texture-Elicited Vibrations}, + author = {Greenspon, Charles M. and McLellan, Kristine R. and Lieber, Justin D. and Bensmaia, Sliman J.}, + date = {2020}, + journaltitle = {J. R. Soc. Interface}, + volume = {17}, + number = {167}, + pages = {20190892}, + doi = {10/gpxpgk} } -@article{unger2011roughness, - title = {Roughness {{Perception}} in {{Virtual Textures}}}, - author = {Unger, Bertram and Hollis, Ralph and Klatzky, Roberta}, - date = {2011}, +@incollection{bernard2018harmonious, + title = {Harmonious {{Textures}}: {{The Perceptual Dimensions}} of {{Synthetic Sinusoidal Gratings}}}, + shorttitle = {Harmonious {{Textures}}}, + booktitle = {Haptics: {{Science}}, {{Technology}}, and {{Applications}}}, + author = {Bernard, Corentin and Monnoyer, Jocelyn and Wiertlewski, Michaël}, + editor = {Prattichizzo, Domenico and Shinoda, Hiroyuki and Tan, Hong Z. and Ruffaldi, Emanuele and Frisoli, Antonio}, + date = {2018}, + volume = {10894}, + pages = {685--695}, + doi = {10.1007/978-3-319-93399-3_58} +} + +@article{jones2013application, + title = {Application of {{Psychophysical Techniques}} to {{Haptic Research}}}, + author = {Jones, Lynette A. and Tan, Hong Z.}, + date = {2013}, journaltitle = {IEEE Trans. Haptics}, - volume = {4}, - number = {2}, - pages = {122--133}, - doi = {10/d5djtx} + volume = {6}, + number = {3}, + pages = {268--284}, + doi = {10/f482vb} } -@article{vanveldhuizen2021effect, - title = {The {{Effect}} of {{Semi-Transparent}} and {{Interpenetrable Hands}} on {{Object Manipulation}} in {{Virtual Reality}}}, - author = {Van Veldhuizen, Michiel and Yang, Xubo}, - date = {2021}, - journaltitle = {IEEE Access}, - volume = {9}, - pages = {17572--17583}, - doi = {10/gpm2sn} +@inproceedings{schwind2017these, + title = {"{{These}} Are Not My Hands!": {{Effect}} of {{Gender}} on the {{Perception}} of {{Avatar Hands}} in {{Virtual Reality}}}, + shorttitle = {"{{These}} Are Not My Hands!"}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Schwind, Valentin and Knierim, Pascal and Tasci, Cagri and Franczak, Patrick and Haas, Nico and Henze, Niels}, + date = {2017}, + pages = {1577--1582}, + doi = {10/gftc5m} } -@inproceedings{vardar2019fingertip, - title = {Fingertip {{Interaction Metrics Correlate}} with {{Visual}} and {{Haptic Perception}} of {{Real Surfaces}}}, - booktitle = {{{IEEE World Haptics Conf}}.}, - author = {Vardar, Yasemin and Wallraven, Christian and Kuchenbecker, Katherine J.}, +@inproceedings{schwind2019understanding, + title = {Understanding {{Visual-Haptic Integration}} of {{Avatar Hands Using}} a {{Fitts}}' {{Law Task}} in {{Virtual Reality}}}, + booktitle = {Mensch {{Comput}}.}, + author = {Schwind, Valentin and Leusmann, Jan and Henze, Niels}, date = {2019}, - pages = {395--400}, - doi = {10/grq5h8} + pages = {211--222}, + doi = {10/ghms5p} } -@article{vogels2004detection, - title = {Detection of {{Temporal Delays}} in {{Visual-Haptic Interfaces}}}, - author = {Vogels, Ingrid M. L. C.}, - date = {2004}, - journaltitle = {Hum. Factors}, - volume = {46}, - number = {1}, - pages = {118--134}, - doi = {10/dbqh6n} +@article{ogawa2021effect, + title = {Effect of {{Avatar Appearance}} on {{Detection Thresholds}} for {{Remapped Hand Movements}}}, + author = {Ogawa, Nami and Narumi, Takuji and Hirose, Michitaka}, + date = {2021}, + journaltitle = {IEEE Trans. Vis. Comput. Graph.}, + volume = {27}, + number = {7}, + pages = {3182--3197}, + doi = {10/gtfhf4} } -@inproceedings{wang2016apriltag, - title = {{{AprilTag}} 2: {{Efficient}} and Robust Fiducial Detection}, - shorttitle = {{{AprilTag}} 2}, - booktitle = {{{IEEERSJ Int}}. {{Conf}}. {{Intell}}. {{Robots Syst}}.}, - author = {Wang, John and Olson, Edwin}, - date = {2016}, - pages = {4193--4198}, - doi = {10/ghbm3h} +@inproceedings{feick2023turnitup, + title = {Turn-{{It-Up}}: {{Rendering Resistance}} for {{Knobs}} in {{Virtual Reality}} through {{Undetectable Pseudo-Haptics}}}, + shorttitle = {Turn-{{It-Up}}}, + booktitle = {{{ACM Symp}}. {{User Interface Softw}}. {{Technol}}.}, + author = {Feick, Martin and Zenner, André and Ariza, Oscar and Tang, Anthony and Biyikli, Cihan and Krüger, Antonio}, + date = {2023}, + doi = {10/gtfhf6} } -@article{watanabe2016transvisible, - title = {The {{Trans-Visible Navigator}}: {{A See-Through Neuronavigation System Using Augmented Reality}}}, - shorttitle = {The {{Trans-Visible Navigator}}}, - author = {Watanabe, Eiju and Satoh, Makoto and Konno, Takehiko and Hirai, Masahiro and Yamaguchi, Takashi}, - date = {2016}, - journaltitle = {World Neurosurg.}, - volume = {87}, - pages = {399--405}, - doi = {10/f8pdbs} +@inproceedings{diluca2019perceptual, + title = {Perceptual {{Limits}} of {{Visual-Haptic Simultaneity}} in {{Virtual Reality Interactions}}}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Di Luca, Massimiliano and Mahnan, Arash}, + date = {2019}, + pages = {67--72}, + doi = {10/gtfrpn} +} + +@article{picard2006partial, + title = {Partial Perceptual Equivalence between Vision and Touch for Texture Information}, + author = {Picard, Delphine}, + date = {2006}, + journaltitle = {Acta Psychol. (Amst.)}, + volume = {121}, + number = {3}, + pages = {227--248}, + doi = {10/fj5rt3} } @article{wichmann2001psychometric, @@ -2667,57 +1787,371 @@ doi = {10/fnn46m} } -@article{wiertlewski2011spatial, - title = {The {{Spatial Spectrum}} of {{Tangential Skin Displacement Can Encode Tactual Texture}}}, - author = {Wiertlewski, Michael and Lozada, José and Hayward, Vincent}, - date = {2011}, - journaltitle = {IEEE Trans. Robot.}, - volume = {27}, - number = {3}, - pages = {461--472}, - doi = {10/bf9875} -} - -@article{witney2004cutaneous, - title = {The Cutaneous Contribution to Adaptive Precision Grip}, - author = {Witney, Alice G. and Wing, Alan and Thonnard, Jean-Louis and Smith, Allan M.}, - date = {2004}, - journaltitle = {Trends Neurosci.}, - volume = {27}, - number = {10}, - pages = {637--643}, - doi = {10/b76sh7} -} - -@inproceedings{wood2016shadowhands, - title = {{{ShadowHands}}: {{High-Fidelity Remote Hand Gesture Visualization}} Using a {{Hand Tracker}}}, - shorttitle = {{{ShadowHands}}}, - booktitle = {{{ACM Int}}. {{Conf}}. {{Interact}}. {{Surf}}. {{Spaces}}}, - author = {Wood, Erroll and Taylor, Jonathan and Fogarty, John and Fitzgibbon, Andrew and Shotton, Jamie}, - date = {2016}, - pages = {77--84}, - doi = {10/gf8vmc} -} - -@article{xiao2018mrtouch, - title = {{{MRTouch}}: {{Adding Touch Input}} to {{Head-Mounted Mixed Reality}}}, - shorttitle = {{{MRTouch}}}, - author = {Xiao, Robert and Schwarz, Julia and Throm, Nick and Wilson, Andrew D. and Benko, Hrvoje}, - date = {2018}, +@article{detinguy2021capacitive, + title = {Capacitive {{Sensing}} for {{Improving Contact Rendering With Tangible Objects}} in {{VR}}}, + author = {De Tinguy, Xavier and Pacchierotti, Claudio and Lecuyer, Anatole and Marchal, Maud}, + date = {2021}, journaltitle = {IEEE Trans. Vis. Comput. Graph.}, - volume = {24}, + volume = {27}, number = {4}, - pages = {1653--1660}, - doi = {10/gdfqcd} + pages = {2481--2487}, + doi = {10/gnc6pr} } -@article{yanagisawa2015effects, - title = {Effects of {{Visual Expectation}} on {{Perceived Tactile Perception}}: {{An Evaluation Method}} of {{Surface Texture}} with {{Expectation Effect}}}, - author = {Yanagisawa, Hideyoshi and Takatsuji, Kenji}, - date = {2015}, - journaltitle = {Int. J. Des.}, - volume = {9}, - number = {1} +@article{slater2022separate, + title = {A {{Separate Reality}}: {{An Update}} on {{Place Illusion}} and {{Plausibility}} in {{Virtual Reality}}}, + shorttitle = {A {{Separate Reality}}}, + author = {Slater, Mel and Banakou, Domna and Beacco, Alejandro and Gallego, Jaime and Macia-Varela, Francisco and Oliva, Ramon}, + date = {2022}, + journaltitle = {Front. Virtual Real.}, + volume = {3}, + pages = {914392}, + doi = {10/gthn7h} +} + +@article{bensmaia2005pacinian, + title = {Pacinian Representations of Fine Surface Texture}, + author = {Bensmaïa, Sliman and Hollins, Mark}, + date = {2005}, + journaltitle = {Percept. Psychophys.}, + volume = {67}, + number = {5}, + pages = {842--854}, + doi = {10/bp5d64} +} + +@article{bensmaia2003vibrations, + title = {The Vibrations of Texture}, + author = {BensmaÏa, Sliman J. and Hollins, Mark}, + date = {2003}, + journaltitle = {Somatosens. Mot. Res.}, + volume = {20}, + number = {1}, + pages = {33--43}, + doi = {10/b2tgqj} +} + +@article{hameed2023how, + title = {How Good Are Virtual Hands? {{Influences}} of Input Modality on Motor Tasks in Virtual Reality}, + shorttitle = {How Good Are Virtual Hands?}, + author = {Hameed, Asim and Möller, Sebastian and Perkis, Andrew}, + date = {2023}, + journaltitle = {J. Environ. Psychol.}, + volume = {92}, + doi = {10/gtk3cx} +} + +@incollection{klatzky2010multisensory, + title = {Multisensory {{Texture Perception}}}, + booktitle = {Multisensory {{Object Perception}} in the {{Primate Brain}}}, + author = {Klatzky, Roberta L. and Lederman, Susan J.}, + editor = {Kaiser, Jochen and Naumer, Marcus Johannes}, + date = {2010}, + pages = {211--230}, + doi = {10.1007/978-1-4419-5615-6_12} +} + +@article{lebrun2024study, + title = {Study of the {{Impact}} of {{Visual}} and {{Haptic Sensory Sensitivities}} on the {{Detection}} of {{Visuo-Haptic Illusions}} in {{Virtual Reality Étude}} de l’impact Des Sensibilités Sensorielles Visuelles et Haptiques Sur La Détection d’illusions Visuo-Haptiques En Réalité Virtuelle}, + author = {Lebrun, Flavien and Haliyo, Sinan and Auvray, Malika and Gueorguiev, David and Bailly, Gilles}, + date = {2024} +} + +@inproceedings{schafer2017transfer, + title = {Transfer Properties of Touch Elicited Waves: {{Effect}} of Posture and Contact Conditions}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Schafer, Harald and Wells, Zachary and Shao, Yitian and Visell, Yon}, + date = {2017}, + pages = {546--551}, + doi = {10/gtp6ht} +} + +@article{pacchierotti2024haptics, + title = {Haptics in the {{Metaverse}}: {{Haptic}} Feedback for {{Virtual}}, {{Augmented}}, {{Mixed}}, and {{eXtended Realities}}}, + author = {Pacchierotti, Claudio and Chinello, Francesco and Koumaditis, Konstantinos and Luca, Massimiliano Di and Ofek, Eyal and Georgiou, Orestis}, + date = {2024}, + journaltitle = {IEEE Trans. Haptics} +} + +@article{young2020compensating, + title = {Compensating for {{Fingertip Size}} to {{Render Tactile Cues More Accurately}}}, + author = {Young, Eric M. and Gueorguiev, David and Kuchenbecker, Katherine J. and Pacchierotti, Claudio}, + date = {2020}, + journaltitle = {IEEE Trans. Haptics}, + volume = {13}, + number = {1}, + pages = {144--151}, + doi = {10/gtrgcr} +} + +@inproceedings{mullenbach2014exploring, + title = {Exploring Affective Communication through Variable-Friction Surface Haptics}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Mullenbach, Joe and Shultz, Craig and Colgate, J. Edward and Piper, Anne Marie}, + date = {2014}, + pages = {3963--3972}, + doi = {10/gtsjkp} +} + +@article{vogels2004detection, + title = {Detection of {{Temporal Delays}} in {{Visual-Haptic Interfaces}}}, + author = {Vogels, Ingrid M. L. C.}, + date = {2004}, + journaltitle = {Hum. Factors}, + volume = {46}, + number = {1}, + pages = {118--134}, + doi = {10/dbqh6n} +} + +@article{diluca2011effects, + title = {Effects of Visual–Haptic Asynchronies and Loading–Unloading Movements on Compliance Perception}, + author = {Di Luca, M. and Knörlein, B. and Ernst, M.O. and Harders, M.}, + date = {2011}, + journaltitle = {Brain Res. Bull.}, + volume = {85}, + number = {5}, + pages = {245--259}, + doi = {10/b2zwbt} +} + +@article{pressman2007perception, + title = {Perception of {{Delayed Stiffness}}}, + author = {Pressman, Assaf and Welty, Leah J. and Karniel, Amir and Mussa-Ivaldi, Ferdinando A.}, + date = {2007}, + journaltitle = {Int. J. Robot. Res.}, + volume = {26}, + number = {11-12}, + pages = {1191--1203}, + doi = {10/b33wgg} +} + +@article{manfredi2014natural, + title = {Natural Scenes in Tactile Texture}, + author = {Manfredi, Louise R. and Saal, Hannes P. and Brown, Kyler J. and Zielinski, Mark C. and Dammann, John F. and Polashock, Vicky S. and Bensmaia, Sliman J.}, + date = {2014}, + journaltitle = {J. Neurophysiol.}, + volume = {111}, + number = {9}, + pages = {1792--1802}, + doi = {10/f5zzhq} +} + +@article{frohner2019can, + title = {Can {{Wearable Haptic Devices Foster}} the {{Embodiment}} of {{Virtual Limbs}}?}, + author = {Frohner, Jakob and Salvietti, Gionata and Beckerle, Philipp and Prattichizzo, Domenico}, + date = {2019}, + journaltitle = {IEEE Trans. Haptics}, + volume = {12}, + number = {3}, + pages = {339--349}, + doi = {10/ghms7m} +} + +@article{bhatia2024augmenting, + title = {Augmenting the Feel of Real Objects: {{An}} Analysis of Haptic Augmented Reality}, + shorttitle = {Augmenting the Feel of Real Objects}, + author = {Bhatia, Arpit and Hornbæk, Kasper and Seifi, Hasti}, + date = {2024}, + journaltitle = {Int. J. Hum.-Comput. Stud.}, + volume = {185}, + doi = {10/gtvx2r} +} + +@inproceedings{adams2022depth, + title = {Depth {{Perception}} in {{Augmented Reality}}: {{The Effects}} of {{Display}}, {{Shadow}}, and {{Position}}}, + shorttitle = {Depth {{Perception}} in {{Augmented Reality}}}, + booktitle = {{{IEEE Conf}}. {{Virtual Real}}. {{3D User Interfaces}}}, + author = {Adams, Haley and Stefanucci, Jeanine and Creem-Regehr, Sarah and Bodenheimer, Bobby}, + date = {2022}, + pages = {792--801}, + doi = {10/gtv3wn} +} + +@inproceedings{achibet2017flexifingers, + title = {{{FlexiFingers}}: {{Multi-finger}} Interaction in {{VR}} Combining Passive Haptics and Pseudo-Haptics}, + shorttitle = {{{FlexiFingers}}}, + booktitle = {{{IEEE Symp}}. {{3D User Interfaces}}}, + author = {Achibet, Merwan and Le Gouis, Benoit and Marchal, Maud and Leziart, Pierre-Alexandre and Argelaguet, Ferran and Girard, Adrien and Lecuyer, Anatole and Kajimoto, Hiroyuki}, + date = {2017}, + pages = {103--106}, + doi = {10/gpp2pn} +} + +@article{ujitoko2021survey, + title = {Survey of {{Pseudo-Haptics}}: {{Haptic Feedback Design}} and {{Application Proposals}}}, + shorttitle = {Survey of {{Pseudo-Haptics}}}, + author = {Ujitoko, Yusuke and Ban, Yuki}, + date = {2021}, + journaltitle = {IEEE Trans. Haptics}, + volume = {14}, + number = {4}, + pages = {699--711}, + doi = {10/gsmq9x} +} + +@inproceedings{choi2018claw, + title = {{{CLAW}}: {{A Multifunctional Handheld Haptic Controller}} for {{Grasping}}, {{Touching}}, and {{Triggering}} in {{Virtual Reality}}}, + shorttitle = {{{CLAW}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Choi, Inrak and Ofek, Eyal and Benko, Hrvoje and Sinclair, Mike and Holz, Christian}, + date = {2018}, + doi = {10/gfz8j2} +} + +@article{marchand2016pose, + title = {Pose {{Estimation}} for {{Augmented Reality}}: {{A Hands-On Survey}}}, + shorttitle = {Pose {{Estimation}} for {{Augmented Reality}}}, + author = {Marchand, Eric and Uchiyama, Hideaki and Spindler, Fabien}, + date = {2016}, + journaltitle = {IEEE Trans. Vis. Comput. Graph.}, + volume = {22}, + number = {12}, + pages = {2633--2651}, + doi = {10/f9bd8n} +} + +@inproceedings{wang2016apriltag, + title = {{{AprilTag}} 2: {{Efficient}} and Robust Fiducial Detection}, + shorttitle = {{{AprilTag}} 2}, + booktitle = {{{IEEERSJ Int}}. {{Conf}}. {{Intell}}. {{Robots Syst}}.}, + author = {Wang, John and Olson, Edwin}, + date = {2016}, + pages = {4193--4198}, + doi = {10/ghbm3h} +} + +@thesis{lincoln2017low, + title = {Low {{Latency Displays}} for {{Augmented Reality}}}, + author = {Lincoln, Peter}, + date = {2017} +} + +@article{genay2021virtual, + title = {Virtual, {{Real}} or {{Mixed}}: {{How Surrounding Objects Influence}} the {{Sense}} of {{Embodiment}} in {{Optical See-Through Experiences}}?}, + shorttitle = {Virtual, {{Real}} or {{Mixed}}}, + author = {Genay, Adélaïde and Lécuyer, Anatole and Hachet, Martin}, + date = {2021}, + journaltitle = {Front. Virtual Real.}, + volume = {2}, + doi = {10/gkghs9} +} + +@article{skarbez2021revisiting, + title = {Revisiting {{Milgram}} and {{Kishino}}'s {{Reality-Virtuality Continuum}}}, + author = {Skarbez, Richard and Smith, Missie and Whitton, Mary C.}, + date = {2021}, + journaltitle = {Front. Virtual Real.}, + volume = {2}, + doi = {10/gjrd9w} +} + +@article{milgram1994taxonomy, + title = {A Taxonomy of Mixed Reality Visual Displays}, + author = {Milgram, Paul and Kishino, Fumio}, + date = {1994}, + series = {{{IEICE Transactions}} on {{Information Systems}}}, + volume = {77}, + number = {12} +} + +@inproceedings{azmandian2016haptic, + title = {Haptic {{Retargeting}}: {{Dynamic Repurposing}} of {{Passive Haptics}} for {{Enhanced Virtual Reality Experiences}}}, + shorttitle = {Haptic {{Retargeting}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Azmandian, Mahdi and Hancock, Mark and Benko, Hrvoje and Ofek, Eyal and Wilson, Andrew D.}, + date = {2016}, + pages = {1968--1979}, + doi = {10/gfz8mv} +} + +@inproceedings{balasubramanian2024sens3, + title = {{{SENS3}}: {{Multisensory Database}} of {{Finger-Surface Interactions}} and {{Corresponding Sensations}}}, + shorttitle = {{{SENS3}}}, + booktitle = {{{EuroHaptics}}}, + author = {Balasubramanian, Jagan K. and Kodak, Bence L. and Vardar, Yasemin}, + date = {2024} +} + +@article{ernst2004merging, + title = {Merging the Senses into a Robust Percept}, + author = {Ernst, Marc O. and Bülthoff, Heinrich H.}, + date = {2004}, + journaltitle = {Trends Cogn. Sci.}, + volume = {8}, + number = {4}, + pages = {162--169}, + doi = {10/bzhmrh} +} + +@book{laviola20173d, + title = {{{3D User Interfaces}}: {{Theory}} and {{Practice}}}, + shorttitle = {{{3D User Interfaces}}}, + author = {LaViola, Joseph J. and Kruijff, Ernst and McMahan, Ryan P. and Bowman, Doug and Poupyrev, Ivan P.}, + date = {2017}, + eprint = {fxWSDgAAQBAJ}, + eprinttype = {googlebooks}, + pagetotal = {882} +} + +@inproceedings{tran2024survey, + title = {A {{Survey On Measuring Presence}} in {{Mixed Reality}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Tran, Tanh Quang and Langlotz, Tobias and Regenbrecht, Holger}, + date = {2024}, + doi = {10/gt56cs} +} + +@inproceedings{speicher2019what, + title = {What Is {{Mixed Reality}}?}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Speicher, Maximilian and Hall, Brian D. and Nebeling, Michael}, + date = {2019}, + doi = {10/ggp859} +} + +@article{feix2016grasp, + title = {The {{GRASP Taxonomy}} of {{Human Grasp Types}}}, + author = {Feix, Thomas and Romero, Javier and Schmiedmayer, Heinz-Bodo and Dollar, Aaron M. and Kragic, Danica}, + date = {2016}, + journaltitle = {IEEE Trans. Hum.-Mach. Syst.}, + volume = {46}, + number = {1}, + pages = {66--77}, + doi = {10.1109/THMS.2015.2470657} +} + +@inproceedings{sutherland1965ultimate, + title = {The {{Ultimate Display}}}, + booktitle = {{{IFIP Congr}}.}, + author = {Sutherland, Ivan E.}, + date = {1965}, + pages = {506--508} +} + +@article{billinghurst2021grand, + title = {Grand {{Challenges}} for {{Augmented Reality}}}, + author = {Billinghurst, Mark}, + date = {2021}, + journaltitle = {Front. Virtual Real.}, + volume = {2}, + doi = {10/gjrwsw} +} + +@article{sutherland1970computer, + title = {Computer {{Displays}}}, + author = {Sutherland, Ivan E.}, + date = {1970}, + journaltitle = {Sci. Am.}, + doi = {10/bnk34d} +} + +@inproceedings{sutherland1968headmounted, + title = {A Head-Mounted Three Dimensional Display}, + booktitle = {Fall {{Jt}}. {{Comput}}. {{Conf}}.}, + author = {Sutherland, Ivan E.}, + date = {1968}, + pages = {757--764} } @article{yang2022audio, @@ -2732,34 +2166,599 @@ doi = {10/gt623q} } -@inproceedings{yoon2020evaluating, - title = {Evaluating {{Remote Virtual Hands Models}} on {{Social Presence}} in {{Hand-based 3D Remote Collaboration}}}, - booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, - author = {Yoon, Boram and Kim, Hyung-il and Oh, Seo Young and Woo, Woontack}, - date = {2020}, - pages = {520--532}, - doi = {10/gktm5g} +@article{dey2018systematic, + title = {A {{Systematic Review}} of 10 {{Years}} of {{Augmented Reality Usability Studies}}: 2005 to 2014}, + shorttitle = {A {{Systematic Review}} of 10 {{Years}} of {{Augmented Reality Usability Studies}}}, + author = {Dey, Arindam and Billinghurst, Mark and Lindeman, Robert W. and Swan, J. Edward}, + date = {2018}, + journaltitle = {Front. Robot. AI}, + volume = {5}, + doi = {10/gfz8jg} } -@article{yoshioka2007texture, - title = {Texture Perception through Direct and Indirect Touch: {{An}} Analysis of Perceptual Space for Tactile Textures in Two Modes of Exploration}, - shorttitle = {Texture Perception through Direct and Indirect Touch}, - author = {Yoshioka, T. and Bensmaïa, S. J. and Craig, J. C. and Hsiao, S. S.}, - date = {2007}, - journaltitle = {Somatosens. Mot. Res.}, - volume = {24}, - number = {1-2}, - pages = {53--70}, - doi = {10/cf9xmk} +@inproceedings{brooks2021stereosmell, + title = {Stereo-{{Smell}} via {{Electrical Trigeminal Stimulation}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Brooks, Jas and Teng, Shan-Yuan and Wen, Jingxuan and Nith, Romain and Nishida, Jun and Lopes, Pedro}, + date = {2021}, + doi = {10/gksk2c} } -@article{young2020compensating, - title = {Compensating for {{Fingertip Size}} to {{Render Tactile Cues More Accurately}}}, - author = {Young, Eric M. and Gueorguiev, David and Kuchenbecker, Katherine J. and Pacchierotti, Claudio}, - date = {2020}, - journaltitle = {IEEE Trans. Haptics}, - volume = {13}, +@inproceedings{brooks2023taste, + title = {Taste {{Retargeting}} via {{Chemical Taste Modulators}}}, + booktitle = {{{ACM Symp}}. {{User Interface Softw}}. {{Technol}}.}, + author = {Brooks, Jas and Amin, Noor and Lopes, Pedro}, + date = {2023}, + doi = {10/gt625w} +} + +@article{watanabe2016transvisible, + title = {The {{Trans-Visible Navigator}}: {{A See-Through Neuronavigation System Using Augmented Reality}}}, + shorttitle = {The {{Trans-Visible Navigator}}}, + author = {Watanabe, Eiju and Satoh, Makoto and Konno, Takehiko and Hirai, Masahiro and Yamaguchi, Takashi}, + date = {2016}, + journaltitle = {World Neurosurg.}, + volume = {87}, + pages = {399--405}, + doi = {10/f8pdbs} +} + +@article{bousquet2024reconfigurable, + title = {Reconfigurable and Versatile Augmented Reality Optical Setup for Tangible Experimentations}, + author = {Bousquet, Bruno and Hachet, Martin and Casamayou, Vincent and Normand, Erwan and Guillet, Jean-Paul and Canioni, Lionel}, + date = {2024}, + journaltitle = {Discov. Educ.}, + volume = {3}, number = {1}, - pages = {144--151}, - doi = {10/gtrgcr} + pages = {113}, + doi = {10/gt63g4} +} + +@inproceedings{hartl2013mobile, + title = {Mobile Interactive Hologram Verification}, + booktitle = {2013 {{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.}, + author = {Hartl, Andreas and Grubert, Jens and Schmalstieg, Dieter and Reitmayr, Gerhard}, + date = {2013}, + pages = {75--82}, + doi = {10/gt63j8} +} + +@inproceedings{roo2017inner, + title = {Inner {{Garden}}: {{Connecting Inner States}} to a {{Mixed Reality Sandbox}} for {{Mindfulness}}}, + shorttitle = {Inner {{Garden}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Roo, Joan Sol and Gervais, Renaud and Frey, Jeremy and Hachet, Martin}, + date = {2017}, + pages = {1459--1470}, + doi = {10/ggrd6q} +} + +@article{slater2009place, + title = {Place Illusion and Plausibility Can Lead to Realistic Behaviour in Immersive Virtual Environments}, + author = {Slater, Mel}, + date = {2009}, + journaltitle = {Philos. Trans. R. Soc. B Biol. Sci.}, + volume = {364}, + number = {1535}, + pages = {3549--3557}, + doi = {10/df44xc} +} + +@article{guy2023sense, + title = {The Sense of Embodiment in {{Virtual Reality}} and Its Assessment Methods}, + author = {Guy, Martin and Normand, Jean-Marie and Jeunet-Kelway, Camille and Moreau, Guillaume}, + date = {2023}, + journaltitle = {Front. Virtual Real.}, + volume = {4}, + doi = {10/gt63zb} +} + +@article{lederman1987hand, + title = {Hand Movements: {{A}} Window into Haptic Object Recognition}, + shorttitle = {Hand Movements}, + author = {Lederman, Susan J and Klatzky, Roberta L}, + date = {1987}, + journaltitle = {Cognit. Psychol.}, + volume = {19}, + number = {3}, + pages = {342--368}, + doi = {10/c54f3f} +} + +@article{ackerley2014touch, + title = {Touch Perceptions across Skin Sites: Differences between Sensitivity, Direction Discrimination and Pleasantness}, + shorttitle = {Touch Perceptions across Skin Sites}, + author = {Ackerley, Rochelle and Carlsson, Ida and Wester, Henric and Olausson, Håkan and Backlund Wasling, Helena}, + date = {2014}, + journaltitle = {Front. Behav. Neurosci.}, + volume = {8}, + doi = {10/f23xr2} +} + +@article{mcglone2007discriminative, + title = {Discriminative Touch and Emotional Touch}, + author = {McGlone, Francis and Vallbo, Ake B. and Olausson, Hakan and Loken, Line and Wessberg, Johan}, + date = {2007}, + journaltitle = {Can. J. Exp. Psychol. Rev. Can. Psychol. Expérimentale}, + volume = {61}, + number = {3}, + pages = {173--183}, + doi = {10/fgrgc6} +} + +@article{johansson2009coding, + title = {Coding and Use of Tactile Signals from the Fingertips in Object Manipulation Tasks}, + author = {Johansson, Roland S. and Flanagan, J. Randall}, + date = {2009}, + journaltitle = {Nat. Rev. Neurosci.}, + volume = {10}, + number = {5}, + pages = {345--359}, + doi = {10/b9gxrq} +} + +@article{blausen2014medical, + title = {Medical Gallery of {{Blausen Medical}}}, + author = {Blausen, Bruce}, + date = {2014}, + journaltitle = {WikiJournal Med.}, + volume = {1}, + number = {2}, + doi = {10/ggkx78} +} + +@book{jones2006human, + title = {Human Hand Function}, + author = {Jones, Lynette A. and Lederman, Susan J.}, + date = {2006}, + pagetotal = {270} +} + +@article{bullock2013handcentric, + title = {A {{Hand-Centric Classification}} of {{Human}} and {{Robot Dexterous Manipulation}}}, + author = {Bullock, Ian M. and Ma, Raymond R. and Dollar, Aaron M.}, + date = {2013}, + journaltitle = {IEEE Trans. Haptics}, + volume = {6}, + number = {2}, + pages = {129--144}, + doi = {10/f4zvmf} +} + +@article{iberall1997human, + title = {Human {{Prehension}} and {{Dexterous Robot Hands}}}, + author = {Iberall, Thea}, + date = {1997}, + journaltitle = {Int. J. Robot. Res.}, + volume = {16}, + number = {3}, + pages = {285--299}, + doi = {10/d648z2} +} + +@inproceedings{cutkosky1986modeling, + title = {Modeling Manufacturing Grips and Correlations with the Design of Robotic Hands}, + booktitle = {{{IEEE Int}}. {{Conf}}. {{Robot}}. {{Autom}}.}, + author = {Cutkosky, Mark R. and Wright, P.}, + date = {1986}, + pages = {1533--1539}, + doi = {10/dsg4h5} +} + +@article{bullock2013grasp, + title = {Grasp {{Frequency}} and {{Usage}} in {{Daily Household}} and {{Machine Shop Tasks}}}, + author = {Bullock, Ian M. and Zheng, Joshua Z. and De La Rosa, Sara and Guertler, Charlotte and Dollar, Aaron M.}, + date = {2013}, + journaltitle = {IEEE Trans. Haptics}, + volume = {6}, + number = {3}, + pages = {296--308}, + doi = {10/f482vj} +} + +@article{gonzalez2014analysis, + title = {Analysis of {{Hand Contact Areas}} and {{Interaction Capabilities During Manipulation}} and {{Exploration}}}, + author = {Gonzalez, Franck and Gosselin, Florian and Bachta, Wael}, + date = {2014}, + journaltitle = {IEEE Trans. Haptics}, + volume = {7}, + number = {4}, + pages = {415--429}, + doi = {10/f6xwn9} +} + +@article{erol2007visionbased, + title = {Vision-Based Hand Pose Estimation: {{A}} Review}, + shorttitle = {Vision-Based Hand Pose Estimation}, + author = {Erol, Ali and Bebis, George and Nicolescu, Mircea and Boyle, Richard D. and Twombly, Xander}, + date = {2007}, + journaltitle = {Comput. Vis. Image Underst.}, + volume = {108}, + number = {1-2}, + pages = {52--73}, + doi = {10/bzm33v} +} + +@article{hollins2000evidence, + title = {Evidence for the Duplex Theory of Tactile Texture Perception}, + author = {Hollins, Mark and Risner, S. Ryan}, + date = {2000}, + journaltitle = {Percept. Psychophys.}, + volume = {62}, + number = {4}, + pages = {695--705}, + doi = {10/fm3st5} +} + +@article{lederman1972fingertip, + title = {Fingertip Force, Surface Geometry, and the Perception of Roughness by Active Touch}, + author = {Lederman, Susan J. and Taylor, M. M.}, + date = {1972}, + journaltitle = {Percept. Psychophys.}, + volume = {12}, + number = {5}, + pages = {401--408}, + doi = {10/cbxns3} +} + +@article{delhaye2012textureinduced, + title = {Texture-Induced Vibrations in the Forearm during Tactile Exploration}, + author = {Delhaye, Benoit and Hayward, Vincent and Lefèvre, Philippe and Thonnard, Jean-Louis}, + date = {2012}, + journaltitle = {Front. Behav. Neurosci.}, + volume = {6}, + doi = {10/gt76tv} +} + +@article{dallmann2015role, + title = {The Role of Vibration in Tactile Speed Perception}, + author = {Dallmann, Chris J. and Ernst, Marc O. and Moscatelli, Alessandro}, + date = {2015}, + journaltitle = {J. Neurophysiol.}, + volume = {114}, + number = {6}, + pages = {3131--3139}, + doi = {10/f747vn} +} + +@article{bergmanntiest2009tactile, + title = {Tactile Perception of Thermal Diffusivity}, + author = {Bergmann Tiest, Wouter M. and Kappers, Astrid M. L.}, + date = {2009}, + journaltitle = {Atten. Percept. Psychophys.}, + volume = {71}, + number = {3}, + pages = {481--489}, + doi = {10/bw9zc2} +} + +@article{bergmanntiest2008thermosensory, + title = {Thermosensory Reversal Effect Quantified}, + author = {Bergmann Tiest, Wouter M. and Kappers, Astrid M.L.}, + date = {2008}, + journaltitle = {Acta Psychol. (Amst.)}, + volume = {127}, + number = {1}, + pages = {46--50}, + doi = {10/ctnmzj} +} + +@article{ho2006contribution, + title = {Contribution of Thermal Cues to Material Discrimination and Localization}, + author = {Ho, Hsin-Ni and Jones, Lynette A.}, + date = {2006}, + journaltitle = {Percept. Psychophys.}, + volume = {68}, + number = {1}, + pages = {118--128}, + doi = {10/bfg5bm} +} + +@inproceedings{schorr2017fingertip, + title = {Fingertip {{Tactile Devices}} for {{Virtual Object Manipulation}} and {{Exploration}}}, + booktitle = {{{CHI Conf}}. {{Hum}}. {{Factors Comput}}. {{Syst}}.}, + author = {Schorr, Samuel B. and Okamura, Allison M.}, + date = {2017}, + pages = {3115--3119}, + doi = {10/gfz8k8} +} + +@article{johansson1984roles, + title = {Roles of Glabrous Skin Receptors and Sensorimotor Memory in Automatic Control of Precision Grip When Lifting Rougher or More Slippery Objects}, + author = {Johansson, R.S. and Westling, G.}, + date = {1984}, + journaltitle = {Exp. Brain Res.}, + volume = {56}, + number = {3}, + doi = {10/d4j5jz} +} + +@article{witney2004cutaneous, + title = {The Cutaneous Contribution to Adaptive Precision Grip}, + author = {Witney, Alice G. and Wing, Alan and Thonnard, Jean-Louis and Smith, Allan M.}, + date = {2004}, + journaltitle = {Trends Neurosci.}, + volume = {27}, + number = {10}, + pages = {637--643}, + doi = {10/b76sh7} +} + +@article{smith1996subjective, + title = {Subjective Scaling of Smooth Surface Friction}, + author = {Smith, A. M. and Scott, S. H.}, + date = {1996}, + journaltitle = {J. Neurophysiol.}, + volume = {75}, + number = {5}, + pages = {1957--1962}, + doi = {10/gt9fwt} +} + +@article{adams2013finger, + title = {Finger Pad Friction and Its Role in Grip and Touch}, + author = {Adams, Michael J. and Johnson, Simon A. and Lefèvre, Philippe and Lévesque, Vincent and Hayward, Vincent and André, Thibaut and Thonnard, Jean-Louis}, + date = {2013}, + journaltitle = {J. R. Soc. Interface}, + volume = {10}, + number = {80}, + doi = {10/gg6ths} +} + +@article{derler2013stick, + title = {Stick–Slip Phenomena in the Friction of Human Skin}, + author = {Derler, S. and Rotaru, G.-M.}, + date = {2013}, + journaltitle = {Wear}, + volume = {301}, + number = {1-2}, + pages = {324--329}, + doi = {10/f45z4n} +} + +@article{messaoud2016relation, + title = {Relation between Human Perceived Friction and Finger Friction Characteristics}, + author = {Messaoud, Wael Ben and Bueno, Marie-Ange and Lemaire-Semail, Betty}, + date = {2016}, + journaltitle = {Tribol. Int.}, + volume = {98}, + pages = {261--269}, + doi = {10/f8nr2s} +} + +@article{brodie1985jiggling, + title = {Jiggling a {{Lifted Weight Does Aid Discrimination}}}, + author = {Brodie, Eric E. and Ross, Helen E.}, + date = {1985}, + journaltitle = {The American Journal of Psychology}, + volume = {98}, + number = {3}, + eprint = {1422630}, + eprinttype = {jstor}, + pages = {469}, + doi = {10/dnm7kk} +} + +@article{bergmanntiest2010haptic, + title = {Haptic Perception of Gravitational and Inertial Mass}, + author = {Bergmann Tiest, Wouter M. and Kappers, Astrid M. L.}, + date = {2010}, + journaltitle = {Attention, Perception, \& Psychophysics}, + volume = {72}, + number = {4}, + pages = {1144--1154}, + doi = {10/b6zfsv} +} + +@incollection{bergmanntiest2012investigating, + title = {Investigating the {{Effect}} of {{Area}} of {{Stimulation}} on {{Cutaneous}} and {{Proprioceptive Weight Perception}}}, + booktitle = {Haptics: {{Perception}}, {{Devices}}, {{Mobility}}, and {{Communication}}}, + author = {Bergmann Tiest, Wouter M. and Lyklema, Connie and Kappers, Astrid M. L.}, + date = {2012}, + volume = {7283}, + pages = {7--12} +} + +@inproceedings{bergmanntiest2011cutaneous, + title = {Cutaneous and Kinaesthetic Perception of Traversed Distance}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Bergmann Tiest, Wouter M. and Van Der Hoff, L. Martin A. and Kappers, Astrid M. L.}, + date = {2011}, + pages = {593--597}, + doi = {10/cq8qgm} +} + +@article{kahrimanovic2010haptic, + title = {Haptic Perception of Volume and Surface Area of 3-{{D}} Objects}, + author = {Kahrimanovic, Mirela and Bergmann Tiest, Wouter M. and Kappers, Astrid M. L.}, + date = {2010}, + journaltitle = {Atten. Percept. Psychophys.}, + volume = {72}, + number = {2}, + pages = {517--527}, + doi = {10/crh7rv} +} + +@article{lakatos1999haptic, + title = {Haptic Form Perception: {{Relative}} Salience of Local and Global Features}, + shorttitle = {Haptic Form Perception}, + author = {Lakatos, Stephen and Marks, Lawrence E.}, + date = {1999}, + journaltitle = {Percept. Psychophys.}, + volume = {61}, + number = {5}, + pages = {895--908}, + doi = {10/bsb3pj} +} + +@article{norman2004visual, + title = {The Visual and Haptic Perception of Natural Object Shape}, + author = {Norman, J Farley and Norman, Hideko F and Clayton, Anna Marie and Lianekhammy, Joann}, + date = {2004}, + journaltitle = {Percept. Psychophys.}, + volume = {66}, + number = {2}, + pages = {342--351}, + doi = {10/fc4pfb} +} + +@article{plaisier2009salient, + title = {Salient Features in 3-{{D}} Haptic Shape Perception}, + author = {Plaisier, Myrthe A. and Bergmann Tiest, Wouter M. and Kappers, Astrid M. L.}, + date = {2009}, + journaltitle = {Atten. Percept. Psychophys.}, + volume = {71}, + number = {2}, + pages = {421--430}, + doi = {10/dhvxgw} +} + +@article{klatzky1987there, + title = {There's More to Touch than Meets the Eye: {{The}} Salience of Object Attributes for Haptics with and without Vision}, + shorttitle = {There's More to Touch than Meets the Eye}, + author = {Klatzky, Roberta L. and Lederman, Susan J. and Reed, Catherine}, + date = {1987}, + journaltitle = {J. Exp. Psychol. Gen.}, + volume = {116}, + number = {4}, + pages = {356--369}, + doi = {10/dk8236} +} + +@article{harper1964subjective, + title = {Subjective Hardness of Compliant Materials}, + author = {Harper, Roland and Stevens, S. S.}, + date = {1964}, + journaltitle = {Q. J. Exp. Psychol.}, + volume = {16}, + number = {3}, + pages = {204--215}, + doi = {10/d8xc8r} +} + +@article{bergmanntiest2009cues, + title = {Cues for {{Haptic Perception}} of {{Compliance}}}, + author = {Bergmann Tiest, W.M. and Kappers, A.}, + date = {2009}, + journaltitle = {IEEE Trans. Haptics}, + volume = {2}, + number = {4}, + pages = {189--199}, + doi = {10/bjrwbd} +} + +@article{friedman2008magnitude, + title = {Magnitude Estimation of Softness}, + author = {Friedman, Robert M. and Hester, Kim D. and Green, Barry G. and LaMotte, Robert H.}, + date = {2008}, + journaltitle = {Exp. Brain Res.}, + volume = {191}, + number = {2}, + pages = {133--142}, + doi = {10/bg8636} +} + +@inproceedings{azadi2014vibrotactile, + title = {Vibrotactile Actuators: {{Effect}} of Load and Body Site on Performance}, + shorttitle = {Vibrotactile Actuators}, + booktitle = {{{IEEE Haptics Symp}}.}, + author = {Azadi, Mojtaba and Jones, Lynette A.}, + date = {2014}, + pages = {351--356}, + doi = {10/gn2c7d} +} + +@article{hayward2007it, + title = {Do {{It Yourself Haptics}}: {{Part I}}}, + shorttitle = {Do It Yourself Haptics}, + author = {Hayward, Vincent and Maclean, Karon E.}, + date = {2007}, + journaltitle = {IEEE Robot. Autom. Mag.}, + volume = {14}, + number = {4}, + pages = {88--104}, + doi = {10/dpjr8n} +} + +@article{maclean2008it, + title = {Do {{It Yourself Haptics}}: {{Part II}}}, + shorttitle = {Do {{It Yourself Haptics}}}, + author = {Maclean, Karon E. and Hayward, Vincent}, + date = {2008}, + journaltitle = {IEEE Robot. Autom. Mag.}, + volume = {15}, + number = {1}, + pages = {104--119}, + doi = {10/dz653x} +} + +@article{leonardis20173rsr, + title = {A 3-{{RSR Haptic Wearable Device}} for {{Rendering Fingertip Contact Forces}}}, + author = {Leonardis, Daniele and Solazzi, Massimiliano and Bortone, Ilaria and Frisoli, Antonio}, + date = {2017}, + journaltitle = {IEEE Trans. Haptics}, + volume = {10}, + number = {3}, + pages = {305--316}, + doi = {10/gb2d5b} +} + +@article{perez2017optimizationbased, + title = {Optimization-{{Based Wearable Tactile Rendering}}}, + author = {Perez, Alvaro G. and Lobo, Daniel and Chinello, Francesco and Cirio, Gabriel and Malvezzi, Monica and Martin, Jose San and Prattichizzo, Domenico and Otaduy, Miguel A.}, + date = {2017-04-01}, + journaltitle = {IEEE Trans. Haptics}, + volume = {10}, + number = {2}, + pages = {254--264}, + doi = {10/gbksxp} +} + +@inproceedings{gabardi2016new, + title = {A New Wearable Fingertip Haptic Interface for the Rendering of Virtual Shapes and Surface Features}, + booktitle = {{{IEEE Haptics Symp}}.}, + author = {Gabardi, Massimiliano and Solazzi, Massimiliano and Leonardis, Daniele and Frisoli, Antonio}, + date = {2016}, + pages = {140--146}, + doi = {10/gm5pxb} +} + +@article{sarakoglou2012high, + title = {A {{High Performance Tactile Feedback Display}} and {{Its Integration}} in {{Teleoperation}}}, + author = {Sarakoglou, Ioannis and Garcia-Hernandez, Nadia and Tsagarakis, Nikos G. and Caldwell, Darwin G.}, + date = {2012}, + journaltitle = {IEEE Trans. Haptics}, + volume = {5}, + number = {3}, + pages = {252--263}, + doi = {10/f36hcv} +} + +@article{ujitoko2020development, + title = {Development of {{Finger-Mounted High-Density Pin-Array Haptic Display}}}, + author = {Ujitoko, Yusuke and Taniguchi, Takaaki and Sakurai, Sho and Hirota, Koichi}, + date = {2020}, + journaltitle = {IEEE Access}, + volume = {8}, + pages = {145107--145114}, + doi = {10/gvbk35} +} + +@inproceedings{leonardis2015wearable, + title = {A Wearable Fingertip Haptic Device with 3 {{DoF}} Asymmetric 3-{{RSR}} Kinematics}, + booktitle = {{{IEEE World Haptics Conf}}.}, + author = {Leonardis, Daniele and Solazzi, Massimiliano and Bortone, Ilaria and Frisoli, Antonio}, + date = {2015}, + pages = {388--393}, + doi = {10/gvbmkq} +} + +@inproceedings{minamizawa2007gravity, + title = {Gravity Grabber: Wearable Haptic Display to Present Virtual Mass Sensation}, + shorttitle = {Gravity Grabber}, + booktitle = {{{ACM SIGGRAPH}}}, + author = {Minamizawa, Kouta and Fukamachi, Souichiro and Kajimoto, Hiroyuki and Kawakami, Naoki and Tachi, Susumu}, + date = {2007}, + pages = {8}, + doi = {10/grmtv8} }