WIP

1-introduction/introduction/figures/icons/attributions.md

@@ -1,11 +1,20 @@
-- "[grab](https://thenounproject.com/browse/icons/term/grab/)" by [Gan Khoon Lay](https://thenounproject.com/creator/leremy/) / [CC BY](https://creativecommons.org/licenses/by/3.0/)
-- "[accuse](https://thenounproject.com/browse/icons/term/accuse/)" by [Gan Khoon Lay](https://thenounproject.com/creator/leremy/) / [CC BY](https://creativecommons.org/licenses/by/3.0/)
-- "[turning knob](https://thenounproject.com/browse/icons/term/turning-knob)" by [Gan Khoon Lay](https://thenounproject.com/creator/leremy/) / [CC BY](https://creativecommons.org/licenses/by/3.0/)
-- "[pressing button](https://thenounproject.com/browse/icons/term/pressing-button)" by [Gan Khoon Lay](https://thenounproject.com/creator/leremy/) / [CC BY](https://creativecommons.org/licenses/by/3.0/)
-- "[pressing button](https://thenounproject.com/browse/icons/term/pressing-button)" by [Gan Khoon Lay](https://thenounproject.com/creator/leremy/) / [CC BY](https://creativecommons.org/licenses/by/3.0/)
-- https://thenounproject.com/icon/finger-pointing-4230431/
-- https://thenounproject.com/icon/finger-pointing-4230346/
-- https://thenounproject.com/icon/vibration-6478365/ from https://thenounproject.com/creator/iconbunny/
-- https://thenounproject.com/icon/hololens-1499195/ from https://thenounproject.com/creator/daniel2021/
-- https://thenounproject.com/icon/hololens-sideview-966758/ from https://thenounproject.com/creator/henningg/
-- https://thenounproject.com/icon/hololens-973887/ from https://thenounproject.com/creator/henningg/
+
+- <https://thenounproject.com/icon/finger-pointing-4230431/>
+- <https://thenounproject.com/icon/finger-pointing-4230346/>
+- <https://thenounproject.com/icon/vibration-6478365/> from <https://thenounproject.com/creator/iconbunny/>
+- <https://thenounproject.com/icon/hololens-1499195/> from <https://thenounproject.com/creator/daniel2021/>
+- <https://thenounproject.com/icon/hololens-sideview-966758/> from <https://thenounproject.com/creator/henningg/>
+- <https://thenounproject.com/icon/hololens-973887/> from <https://thenounproject.com/creator/henningg/>
+
+## by [Gan Khoon Lay](https://thenounproject.com/creator/leremy/) / [CC BY](https://creativecommons.org/licenses/by/3.0/)
+
+- grab
+- accuse
+- turning knob
+- pressing button
+- <https://thenounproject.com/icon/hand-using-mouse-4230206/>
+- <https://thenounproject.com/icon/hand-using-phone-4230292/>
+- <https://thenounproject.com/icon/hand-getting-cream-4230201/>
+- <https://thenounproject.com/icon/pressing-button-4230381/>
+- <https://thenounproject.com/icon/hand-holding-a-cube-4230175/>
+- <https://thenounproject.com/icon/take-a-break-4230351/>

1-introduction/introduction/figures/icons/noun-hololens-sideview-966758.svg

@@ -1 +0,0 @@
-<svg xmlns="http://www.w3.org/2000/svg" data-name="Ebene 1" viewBox="0 0 24 30" x="0px" y="0px"><title>Iconsset</title><path d="M23.44,8.62A.5.5,0,0,0,23,8.25L1,7.75a.49.49,0,0,0-.49.34,3.16,3.16,0,0,0,0,1.74h0c0,.26,1.11,6.42,4.49,6.42a6,6,0,0,0,5.35-2.15.5.5,0,0,0,.15-.35,12.74,12.74,0,0,0-.1-1.52L23,11.75a.5.5,0,0,0,.46-.34A4.71,4.71,0,0,0,23.44,8.62ZM5,15.25c-1.88,0-3-3.21-3.39-5H8.73a7.24,7.24,0,0,1,.73,3.29C7.71,15.25,6.88,15.25,5,15.25Zm17.62-4.49-12.4.47A3.91,3.91,0,0,0,9.31,9.4.5.5,0,0,0,9,9.25H1.38a2.35,2.35,0,0,1,0-.49l21.2.48A3.71,3.71,0,0,1,22.57,10.76Z"/><text x="0" y="39" fill="#000000" font-size="5px" font-weight="bold" font-family="'Helvetica Neue', Helvetica, Arial-Unicode, Arial, Sans-serif">Created by Henning Gross</text><text x="0" y="44" fill="#000000" font-size="5px" font-weight="bold" font-family="'Helvetica Neue', Helvetica, Arial-Unicode, Arial, Sans-serif">from the Noun Project</text></svg>

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

@@ -9,16 +9,15 @@ To understand how wearable haptics have been used to render haptic properties of
 
 The haptic sense has specific characteristics that make it unique in regard to other senses.
 %
-It enables us to perceive a large diversity of properties in the surrounding objects, through to a complex combination of tactile and proprioceptive sensations produced by numerous sensory receptors distributed throughout the body.
+It enables us to perceive a large diversity of properties in the surrounding objects, through to a complex combination of sensations produced by numerous sensory receptors distributed throughout the body.
 %
 But it also allows us to act on these objects, to come into contact with them, to grasp them, to manipulate them and to actively explore them.
 %
 This implies that the haptic perception is localised at the points of contact between the body and the environment, \ie we cannot haptically perceive an object without actively touching it.
 %
-These two mechanisms, perception and action, are therefore closely associated and both essential to form the haptic experience of interacting with the environment~\cite{lederman2009haptic}.
+These two mechanisms, \emph{perception and action}, are therefore closely associated and both essential to form the haptic experience of interacting with the environment~\cite{lederman2009haptic}.
 
 % passive and active touch
-% many receptors : cutaneous and kinesthetic sensory modalities
 % hand mechanics and anatomy
 % exploratory procedures
 % grasp types
@@ -27,7 +26,7 @@ These two mechanisms, perception and action, are therefore closely associated an
 \subsubsection{Haptic Perception}
 \label{haptic_perception}
 
-Perceiving the properties of an object involves numerous sensory receptors embedded in the skin, but also in the muscles and joints of the hand, and distributed across the body. They are divided into two main modalities: cutaneous and kinesthetic.
+Perceiving the properties of an object involves numerous sensory receptors embedded in the skin, but also in the muscles and joints of the hand, and distributed across the body. They are divided into two main modalities: \emph{cutaneous and kinesthetic}.
 
 \paragraph{Cutaneous Sensitivity}
 
@@ -35,13 +34,13 @@ Cutaneous haptic receptors are specialised nerve endings implanted in the skin t
 
 Adaptation rate and receptor size are the two key characteristics that respectively determine the temporal and spatial resolution of these mechanoreceptors, as summarized in \tabref{cutaneous_receptors}.
 %
-The adaptation rate is the speed and duration of the response to a stimulus.
+The \emph{adaptation rate} is the speed and duration of the response to a stimulus.
 %
 Meissner and Pacinian receptors, known as fast-adapting, respond rapidly to a stimulus but stop quickly even though the stimulus is still present, allowing the detection of high-frequency changes.
 %
 In contrast, Merkel and Ruffini receptors, known as slow-adapting, have a slower but continuous response to a static, prolonged stimulus.
 %
-The size of the receptor determines the area of skin that can be sensed by a single nerve ending.
+The \emph{size of the receptor} determines the area of skin that can be sensed by a single nerve ending.
 %
 Meissner and Merkel receptors have a small detection area and are sensitive to fine skin deformations, while Ruffini and Pacinian receptors have a larger detection area.
 
@@ -49,11 +48,11 @@ Meissner and Merkel receptors have a small detection area and are sensitive to f
 
 The density of mechanoreceptors varies according to skin type and body region.
 %
-Glabrous skin, especially on the face, feet, hands, and more importantly, the fingers, is particularly rich in cutaneous receptors, giving these regions great tactile sensitivity.
+\emph{Glabrous skin}, especially on the face, feet, hands, and more importantly, the fingers, is particularly rich in cutaneous receptors, giving these regions great tactile sensitivity.
 %
 The density of the Meissner and Merkel receptors, which are the most sensitive, is notably high in the fingertips~\cite{johansson2009coding}.
 %
-Conversely, hairy skin is less sensitive and does not contain Meissner receptors, but has additional receptors at the base of the hairs, as well as receptors known as C-tactile, which are involved in pleasantness and affective touch~\cite{ackerley2014touch}.
+Conversely, \emph{hairy skin} is less sensitive and does not contain Meissner receptors, but has additional receptors at the base of the hairs, as well as receptors known as C-tactile, which are involved in pleasantness and affective touch~\cite{ackerley2014touch}.
 
 There are also two types of thermal receptors implanted in the skin, which respond to increases or decreases in skin temperature, respectively, providing sensations of warmth or cold~\cite{lederman2009haptic}.
 %
@@ -76,25 +75,67 @@ Finally, free nerve endings (without specialized receptors) provide information
 
 \paragraph{Kinesthetic Sensitivity}
 
-\paragraph{Hand Mechanics}
+Kinesthetic receptors are also mechanoreceptors but are located in the muscles, tendons and joints~\cite{jones2006human}.
+Les fuseaux musculaires, situés dans les muscles, répondent à la longueur des muscles, à la vitesse de l'étirement et à la contraction musculaire.
+Les organes tendineux de Golgi, situés à la jonction entre les muscles et les tendons, répondent à la force développée par les muscles.
+Enfin, des récepteurs de Ruffini et de Pacini sont présent dans les articulations et répondent au mouvement articulaire.
+Ces trois types de récepteurs donnent donc, ensemble, un retour sensoriel sur le déplacement, la vitesse et la force des muscles ainsi que la rotation des articulations lors d'un mouvement.
+Ils permettent donc également de sentir les forces et les couples extérieurs appliqués sur le corps.
+
+Les récepteurs kinesthésiques sont donc fortement liés au contrôle moteur du corps.
+En fournissant un retour sensoriel en réponse à la position et aux mouvements des membres, ils permettent une perception de notre corps dans l'espace, appelée \emph{proprioception}.
+Ainsi, même les yeux fermés, nous sommes capable de planifier et effectuer des mouvements précis pour toucher ou saisir une cible.
+Cependant, les mecanorécepteurs cutanées sont partie intégrante de cette perception, car tout mouvement du corps ainsi que les contacts avec l'environment déforme nécessairement la peau~\cite{johansson2009coding}.
 
 
 \subsubsection{Hand-Object Interactions}
 \label{hand_object_interactions}
 
-%Perceiving the properties of an object involves numerous sensory receptors embedded in the skin, but also in the muscles and joints of the hand.
+La perception haptique est donc complexe, riche et construite à partir des multiples récepteurs sensoriels d'entrée cutanées et kinesthésiques.
+Particulièrement présents dans la main, ils lui donne une grande sensibilité haptique mais aussi une grande dextérité dans ses mouvements.
+En effet, en fournissant un retour sensoriel en réponse aux mouvements de la main et des doigts, cela forme une \emph{boucle sensorimotrice} qui permet d'ajuster les mouvements en fonction des sensations.
+
+\paragraph{Sensorimotor Continuum of the Hand}
+
+La contribution de ces deux types de sensations varie cependant selon les mouvements demandés par l'activité qu'effectue la main.
+\textcite{jones2006human} ont proposé ainsi un continuum sensorimoteur des fonctions de la main, allant d'activités principalement sensorielles à des activités avec une composante motrice plus importante.
+Comme illustré dans la \figref{sensorimotor-continuum}, \textcite{jones2006human} proposent de délimiter quatre catégories de fonctions de la main sur ce continuum:
 %
-%Therefore, it requires an active exploration of the object with the hand and the fingers that requires coordination between the movements and the sensations in return.
+\begin{itemize}
+    \item La \emph{détection tactile} est la capacité de la main à percevoir un objet avec qui elle est en contact statique à partir des sensations cutanées. L'objet peut cependant être en mouvement, mais la main reste immobile. Aussi appelé \emph{toucher passif}, cela permet une assez bonne perception de la surface, par exemple \textcite{gunther2022smooth}.
+    \item La \emph{détection haptique active} est l'exploration manuelle et volontaire d'un objet avec la main, impliquant l'ensemble des sensations cutanées et kinesthésiques. Cela permet une perception plus précise que le toucher passif~\cite{lederman2009haptic}.
+    \item La \emph{préhension} est l'action de saisir un objet avec la main, et de le maintenir. Cela implique une coordination fine entre les mouvements de la main et des doigt avec les sensations haptiques en retour.
+    \item Les \emph{gestes}, appelé non-prehensible skilled movements par \textcite{jones2006human}, sont des activités essentiellement motrices et sans contact continu avec un objet. Ce sont par exemple pointer une cible, frapper un clavier, accompagner un discours de gestes ou signer en langue des signes~\cite{yoon2020evaluating}
+\end{itemize}
+
+\fig[0.6]{sensorimotor-continuum}{The sensorimotor continuum of the hand function proposed by and adapted from~\textcite{jones2006human}. Functions of the hand are classified into four categories based on the relative importance of sensory and motor components.}
+
+L'ensemble des interactions possible de la main avec un objet est vaste et varié, \textcite{bullock2013handcentric} ont proposé une classification plus détaillée en 15 catégories.
+%
+Dans cette thèse, nous nous intéressons aux détections haptiques actives d'augmentations visuo-haptiques (voir \partref{perception}) et à la préhension d'objets virtuels (voir \partref{manipulation}) dans le contexte de la RA et des wearable haptics.
+
+\paragraph{Hand Anatomy}
+
+Pour comprendre la diversité des actions possibles de la main, il faut décrire brièvement son anatomie. En effet, sous la peau, la mise en action des muscles et des tendons est possible car ils prennent appuis sur les os.
+Le squelette de la main, complexe et articulé, est composé de ...
+
+\fig[0.45]{blausen2014medical_hand}{Schema of the hand skeleton. Adapted from~\cite{blausen2014medical}.}
 
 \paragraph{Exploratory Procedures}
 
 \paragraph{Grasp Types}
 
+La préhension d'un objet par la main est possible car celle-ci peut prendre de nombreuses postures grâce aux degrés de liberté de son squelette.
+En venant opposer le pouce ou la paume aux autres doigts (pad or palm grasps), ou encore les doigts entre eux comme pour tenir une cigarette (side grasp), la main peut tenir en sécurité l'objet~\cite{iberall1997human}.
+La préhension varie donc selon la forme de l'objet et la tâche a réaliser, comme illustré par la figure xxx, par exemple saisir un stylo du bout des doigts puis le tenir pour écrire avec ou bien prendre une tasse par le corps pour la remplir et par l'anse pour la boire~\cite{cutkosky1986modeling}.
+Trois types de préhensions sont distingués selon leur degré de force et de précision: Dans les préhensions de force, l'objet est tenu fermement et suit les mouvements de la main, tandis que dans les préhensions de précision, la main peut effectuer des mouvements avec les doigts sur l'objet sans bouger le bras. Les préhensions mixtes combinent force et précision en égal proportion~\cite{feix2016grasp}.
+Le nombre de types de préhension peut être classifié et réduit à 33 types~\cite{feix2016grasp}. Au quotidien ou au travail, ce nombre est même plus restreint pouvant aller entre 5 et 10 types de préhension selon l'activité~\cite{bullock2013grasp}.
+
 
 \subsubsection{Object Properties}
 \label{object_properties}
 
-Toucher activement un objet implique donc des mécanismes simultanés de la main à la fois sensoriels et moteurs.
+Toucher activement un objet implique donc une action sensorimotrice de la main.
 %
 Ainsi, les nombreux mouvements exploratoires utilisés guident la recherche d'informations sensorielles et permettent de construire une perception haptique des propriétés de l'objet.
 %
@@ -122,6 +163,10 @@ Nous décrivons ici les principales propriétés haptiques perçues.
 
 \paragraph{Mechanics and Wearability}
 
+% 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
+
+% Level of wearability is inverse of kinesthetic feedback capability
+
 \paragraph{Moving Actuators}
 
 \paragraph{Vibrotactile Actuators}

1-introduction/related-work/3-visuo-haptic.tex

@@ -6,6 +6,9 @@
 \subsection{Altering the Perceptions}
 \label{vhar_perception}
 
+% In 2010, they were research interest on building haptics (dynamic tactile feedback) for touch-based systems. [@Bau2010Teslatouch] created a touch-based surface rendering textures using electrovibration and friction feedback between the surface and the user's finger.
+% They extended this prototype to in [@Bau2012REVEL] to alter the texture of touched real objects using reverse electrovibration. They call this kind of haptic devices that can alter the touch perception of any object without any setup as *intrinsic haptic displays*. They said [@Azuma1997Survey] as envisioned this kind of AR experience.
+
 \subsubsection{Texture Augmentations}
 
 \subsubsection{Stiffness Augmentations}

references.bib

@@ -408,6 +408,17 @@
   date = {2005}
 }
 
+@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},
@@ -708,6 +719,17 @@
   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 = {2016-02},
+  journaltitle = {IEEE Trans. Human-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},
@@ -987,6 +1009,17 @@
   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},
@@ -1020,6 +1053,13 @@
   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.},
@@ -1415,7 +1455,7 @@
 }
 
 @article{mcglone2007discriminative,
-  title = {Discriminative Touch and Emotional Touch.},
+  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},