Structure related work

1-introduction/related-work/2-wearable-haptics.tex

@@ -1,7 +1,9 @@
-\section{Rendering Objects with Wearable Haptics}
+\section{Augmenting Objects with Wearable Haptics}
 \label{wearable_haptics}
 
 One of the roles of haptic systems is to render virtual interactions and sensations that are \emph{similar and comparable} to those experienced by the haptic sense with real objects, particularly in \v-\VE~\cite{maclean2008it,culbertson2018haptics}.
+Moreover, a haptic \AR system should \enquote{modulating the feel of a real object by virtual [haptic] feedback}~\cite{jeon2009haptic}, \ie a touch interaction with a real object whose perception is modified by the addition of virtual haptic feedback.
+The haptic system should be hand-held or worn, \eg on the hand, and \enquote{not permanently attached to or integrated in the object}~\cite{bhatia2024augmenting}.
 
 
 \subsection{Level of Wearability}
@@ -158,52 +160,89 @@ Several types of vibrotactile actuators are used in haptics, with different trad
 \end{subfigs}
 
 
-\subsection{Tactile Renderings of Object Properties}
+\subsection{Tactile Renderings for Modifying Object Properties}
 \label{tactile_rendering}
 
 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.
 
 En particulier, nous nous intéressons aux actuateurs portables stimulant les méchano-récepteurs de la peau (voir \secref{haptic_sense}) et n'empêchant pas de toucher et interagir avec l'environnement réel et aux rendus de propriétés haptiques d'objets virtuels ou augmentés.
 
-%, 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
+In the context of integrating \WHs with \AR to create a \vh-\AE (see \chapref{introduction}), the definition of \textcite{pacchierotti2017wearable} can be extended to an additional criterion: The wearable haptic interface should not impair the interaction with the \RE, \ie the user should be able to touch and manipulate objects in the real world while wearing the haptic device.
 
-\subsubsection{Contact}
+\cite{bhatia2024augmenting}. Types of interfaces : direct touch, through touch, through tool. Focus on direct touch, but when no rendering done, will overview possibilities with the other types of interfaces.
 
-\subsubsection{Hardness}
-\label{contact_rendering}
+\cite{klatzky2003feeling} : rendering roughness, friction, deformation, temperatures
+\cite{girard2016haptip} : renderings with a tangential motion actuator
 
-\subsubsection{Texture}
+\subsubsection{Textures}
 \label{texture_rendering}
 
 Several approaches have been proposed to render virtual haptic texture~\cite{culbertson2018haptics}.
-%
 High-fidelity force feedback devices can reproduce patterned textures with great precision and provide similar perceptions to real textures, but they are expensive, have a limited workspace, and impose to hold a probe to explore the texture~\cite{unger2011roughness}.
-%
 As more traditional force feedback systems are unable to accurately render such micro-details on a simulated surface, vibrotactile devices attached to the end effector instead generate vibrations to simulate interaction with the virtual texture~\cite{culbertson2018haptics}.
-%
 In this way, physics-based models~\cite{chan2021hasti,okamura1998vibration,guruswamy2011iir} and data-based models~\cite{culbertson2015should,romano2010automatic} have been developed and evaluated, the former being simpler but more approximate to real textures, and the latter being more realistic but limited to the captured textures.
-%
 Notably, \textcite{okamura1998vibration} rendered grating textures with exponentially decaying sinudoids that simulated the strokes of the grooves and ridges of the surface, while \textcite{culbertson2014modeling} captured and modelled the roughness of real surfaces to render them using the speed and force of the user.
-%
 An effective approach to rendering virtual roughness is to generate vibrations to simulate interaction with the virtual texture~\cite{culbertson2018haptics}, relying on the user's real-time measurements of position, velocity and force to modulate the frequencies and amplitudes of the vibrations, with position and velocity being the most important parameters~\cite{culbertson2015should}.
-% For example, when comparing the same virtual texture pairwise, but with different parameters, \textcite{culbertson2015should} showed that the roughness vibrations generated should vary with user speed, but not necessarily with user force.
-% Virtual data-driven textures were perceived as similar to real textures, except for friction, which was not rendered properly.
-%
+For example, when comparing the same virtual texture pairwise, but with different parameters, \textcite{culbertson2015should} showed that the roughness vibrations generated should vary with user speed, but not necessarily with user force.
+Virtual data-driven textures were perceived as similar to real textures, except for friction, which was not rendered properly.
 The perceived roughness of real surfaces can be then modified when touched by a tool with a vibrotactile actuator attached~\cite{culbertson2014modeling,ujitoko2019modulating} or directly with the finger wearing the vibrotactile actuator~\cite{asano2015vibrotactile}, creating a haptic texture augmentation.
-%
 The objective is not just to render a virtual texture, but to alter the perception of a real, tangible surface, usually with wearable haptic devices, in what is known as haptic augmented reality (HAR)~\cite{bhatia2024augmenting,jeon2009haptic}.
 
 One additional challenge of augmenting the finger touch is to keep the fingertip free to touch the real environment, thus delocalizing the actuator elsewhere on the hand~\cite{ando2007fingernailmounted,friesen2024perceived,normand2024visuohaptic,teng2021touch}.
-%
 Of course, the fingertip skin is not deformed by the virtual texture and only vibrations are felt, but it has been shown that the vibrations produced on the fingertip skin running over a real surface are texture specific and similar between individuals~\cite{manfredi2014natural}.
-%
 A common method vibrotactile rendering of texture is to use a sinusoidal signal whose frequency is modulated by the finger position or velocity~\cite{asano2015vibrotactile,friesen2024perceived,strohmeier2017generating,ujitoko2019modulating}.
-%
 It remains unclear whether such vibrotactile texture augmentation is perceived the same when integrated into visual AR or VR environments or touched with a virtual hand instead of the real hand.
-%
-%We also add a phase adjustment to this sinusoidal signal to allow free exploration movements of the finger with a simple camera-based tracking system.
+
+The perceived roughness of real surfaces can be then modified when touched by a tool with a vibrotactile actuator attached~\cite{culbertson2014modeling,ujitoko2019modulating} or directly with the finger wearing the vibrotactile actuator~\cite{asano2015vibrotactile}, creating a haptic texture augmentation.
+The objective is not just to render a virtual texture, but to alter the perception of a real, tangible surface, usually with wearable haptic devices, in what is known as haptic augmented reality (HAR)~\cite{bhatia2024augmenting,jeon2009haptic}.
+One additional challenge of augmenting the finger touch is to keep the fingertip free to touch the real environment, thus delocalizing the actuator elsewhere on the hand~\cite{ando2007fingernailmounted,friesen2024perceived,teng2021touch}.
+Of course, the fingertip skin is not deformed by the virtual texture and only vibrations are felt, but it has been shown that the vibrations produced on the fingertip skin running over a real surface are texture specific and similar between individuals~\cite{manfredi2014natural}.
+A common method vibrotactile rendering of texture is to use a sinusoidal signal whose frequency is modulated by the finger position or velocity~\cite{asano2015vibrotactile,friesen2024perceived,strohmeier2017generating,ujitoko2019modulating}.
+
+\subsubsection{Hardness}
+\label{hardness_rendering}
+
+\cite{kuchenbecker2006improving}
+\cite{jeon2009haptic}
+\cite{jeon2012extending}
+\cite{hachisu2012augmentation}
+
+\cite{kildal20103dpress}
+
+pacchierotti2014improving
+pacchierotti2015enhancing
+park 2017 Compensation of perceived hardness of a virtual object with cutaneous feedback
+\cite{park2019realistic}
+\cite{choi2021perceived}
+\cite{park2023perceptual}
+
+\cite{detinguy2018enhancing}
+\cite{salazar2020altering}
+\cite{yim2021multicontact}
+\cite{tao2021altering}
+
+\subsubsection{Friction}
+\label{friction_rendering}
+
+\cite{konyo2008alternative}
+\cite{provancher2009fingerpad}
+\cite{smith2010roughness}
+\cite{jeon2011extensions}
+\cite{salazar2020altering}
+\cite{yim2021multicontact}
+
+\subsubsection{Weight}
+\label{weight_rendering}
+
+\cite{minamizawa2007gravity}
+\cite{minamizawa2008interactive}
+\cite{jeon2011extensions}
+\cite{choi2017grabity}
+\cite{culbertson2017waves}
 
 
 \subsection{Conclusion}
 \label{wearable_haptics_conclusion}
+
+%, 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