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@@ -21,7 +21,7 @@ When running a finger over a surface, the deformations and vibrations of the ski
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%In this way, physics-based models~\autocite{chan2021hasti,okamura1998vibration} and data-based models~\autocite{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.
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%Notably, \citeauthorcite{okamura1998vibration} rendered grating textures with exponentially decaying sinudoids that simulated the strokes of the grooves and ridges of the surface, while \citeauthorcite{culbertson2014modeling} captured and modelled the roughness of real surfaces to render them using the speed and force of the user.
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%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.
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An effective approach to rendering virtual roughness is to generate vibrations to simulate interaction with the virtual texture~\autocite{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~\autocite{culbertson2015should}.
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@@ -52,19 +52,19 @@ It remains unclear whether such vibrotactile texture augmentation is perceived t
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When the same object property is sensed simultaneously by vision and touch, the two modalities are integrated into a single perception.
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The phychophysical model of \citeauthorcite{ernst2002humans} established that the sense with the least variability dominates perception.
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The phychophysical model of \textcite{ernst2002humans} established that the sense with the least variability dominates perception.
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%In particular, this effect has been used to better understand the visuo-haptic perception of texture and to design better feedback for virtual objects.
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Particularly for real textures, it is known that both touch and sight individually perceive textures equally well and similarly~\autocite{bergmanntiest2007haptic,baumgartner2013visual,vardar2019fingertip}.
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Thus, the overall perception can be modified by changing one of the modalities, as shown by \citeauthorcite{yanagisawa2015effects}, who altered the perception of roughness, stiffness and friction of some real tactile textures touched by the finger by superimposing different real visual textures using a half-mirror.
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Thus, the overall perception can be modified by changing one of the modalities, as shown by \textcite{yanagisawa2015effects}, who altered the perception of roughness, stiffness and friction of some real tactile textures touched by the finger by superimposing different real visual textures using a half-mirror.
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%Similarly but in VR, \citeauthorcite{degraen2019enhancing} combined visual textures with different passive haptic hair-like structure that were touched with the finger to induce a larger set of visuo-haptic materials perception.
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%Similarly but in VR, \textcite{degraen2019enhancing} combined visual textures with different passive haptic hair-like structure that were touched with the finger to induce a larger set of visuo-haptic materials perception.
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%\citeauthorcite{gunther2022smooth} studied in a complementary way how the visual rendering of a virtual object touching the arm with a tangible object influenced the perception of roughness.
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%\textcite{gunther2022smooth} studied in a complementary way how the visual rendering of a virtual object touching the arm with a tangible object influenced the perception of roughness.
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Likewise, visual textures were combined in VR with various tangible objects to induce a larger set of visuo-haptic material perceptions, in both active touch~\autocite{degraen2019enhancing} and passive touch~\autocite{gunther2022smooth} contexts.
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\citeauthorcite{normand2024augmenting} also investigated the roughness perception of tangible surfaces touched with the finger and augmented with visual textures in AR and with wearable vibrotactile textures.
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\textcite{normand2024augmenting} also investigated the roughness perception of tangible surfaces touched with the finger and augmented with visual textures in AR and with wearable vibrotactile textures.
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%A common finding of these studies is that haptic sensations seem to dominate the perception of roughness, suggesting that a smaller set of haptic textures can support a larger set of visual textures.
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@@ -82,18 +82,18 @@ The vibrotactile sinusoidal rendering of virtual texture cited above was also co
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%However, the visual representation was a virtual cursor seen on a screen while the haptic feedback was felt with a hand-held device.
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%Conversely, as discussed by \citeauthorcite{ujitoko2021survey} in their review, a co-localised visuo-haptic rendering can cause the user to notice the mismatch between their real movements and the visuo-haptic feedback.
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%Conversely, as discussed by \textcite{ujitoko2021survey} in their review, a co-localised visuo-haptic rendering can cause the user to notice the mismatch between their real movements and the visuo-haptic feedback.
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Even before manipulating a visual representation to induce a haptic sensation, shifts and latencies between user input and co-localised visuo-haptic feedback can be experienced differently in AR and VR, which we aim to investigate in this work.
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%it remains unclear whether touching the same tactile texture augmentation in immersive AR or VR with one's own hand or with a virtual hand can be perceived differently.
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A few studies specifically compared visuo-haptic perception in AR \vs VR.
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Rendering a virtual piston pressed with one's real hand using a video see-through (VST) AR headset and a force feedback haptic device, \citeauthorcite{diluca2011effects} showed that a visual delay increased the perceived stiffness of the piston, whereas a haptic delay decreased it.
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Rendering a virtual piston pressed with one's real hand using a video see-through (VST) AR headset and a force feedback haptic device, \textcite{diluca2011effects} showed that a visual delay increased the perceived stiffness of the piston, whereas a haptic delay decreased it.
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%\citeauthorcite{diluca2011effects} went on to explain how these delays affected the weighting of visual and haptic information in perceived stiffness.
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%\textcite{diluca2011effects} went on to explain how these delays affected the weighting of visual and haptic information in perceived stiffness.
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In a similar setup, but with an optical see-through (OST) AR headset, \citeauthorcite{gaffary2017ar} found that the virtual piston was perceived as less stiff in AR than in VR, without participants noticing this difference.
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In a similar setup, but with an optical see-through (OST) AR headset, \textcite{gaffary2017ar} found that the virtual piston was perceived as less stiff in AR than in VR, without participants noticing this difference.
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Using a VST-AR headset have notable consequences, as the "real" view of the environment and the hand is actually a visual stream from a camera, which has a noticeable delay and lower quality (\eg resolution, frame rate, field of view) compared to the direct view of the real environment with OST-AR~\autocite{macedo2023occlusion}.
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