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+\section{Conclusion}
+\label{conclusion}
+
+%Summary of the research problem, method, main findings, and implications.
+
+In this chapter, we designed and implemented a system for rendering virtual visuo-haptic textures that augment a real surface.
+Directly touched with the fingertip, the perceived roughness of the surface can be increased using a wearable vibrotactile voice-coil device mounted on the middle phalanx of the finger.
+We adapted the 1D sinusoidal grating rendering method, common in the literature but not yet integrated in a direct touch context, for use with vision-based tracking of the finger and paired it with an immersive \AR headset.
+
+Our wearable visuo-haptic augmentation system enable any real surface to be augmented with a minimal setup.
+It also allows a free exploration of the textures, as if they were real (\secref[related_work]{ar_presence}), by letting the user view them from different poses and touch them with the bare finger without constraints on hand movements.
+The visual latency we measured is typical of \AR systems, and the haptic latency is below the perceptual detection threshold for vibrotactile rendering.
+This system forms the basis of the apparatus for the user studies presented in the next two chapters, which evaluate the user perception of these visuo-haptic texture augmentations.
+
+\noindentskip This work was presented and published at the VRST 2024 conference:
+
+Erwan Normand, Claudio Pacchierotti, Eric Marchand, and Maud Marchal.
+\enquote{How Different Is the Perception of Vibrotactile Texture Roughness in Augmented versus Virtual Reality?}.
+In: \textit{ACM Symposium on Virtual Reality Software and Technology}. Trier, Germany, October 2024. pp. 287--296.
+