Simpler section reference labels
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\section{Visuo-Haptic Texture Rendering in Mixed Reality}
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\label{sec:method}
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\label{method}
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\figwide[1]{method/diagram}{%
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Diagram of the visuo-haptic texture rendering system.
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@@ -42,7 +42,7 @@ The system is composed of three main components: the pose estimation of the trac
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\subsection{Pose Estimation and Virtual Environment Alignment}
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\label{sec:virtual_real_alignment}
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\label{virtual_real_alignment}
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\begin{subfigs}{setup}{Visuo-haptic texture rendering system setup}[%
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\item HapCoil-One voice-coil actuator with a fiducial marker on top attached to a participant's right index finger. %
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@@ -95,7 +95,7 @@ To simulate a VR headset, a cardboard mask (with holes for sensors) is attached
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\subsection{Vibrotactile Signal Generation and Rendering}
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\label{sec:texture_generation}
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\label{texture_generation}
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A voice-coil actuator (HapCoil-One, Actronika) is used to display the vibrotactile signal, as it allows the frequency and amplitude of the signal to be controlled independently over time, covers a wide frequency range (\qtyrange{10}{1000}{\Hz}), and outputs the signal accurately with relatively low acceleration distortion\footnote{HapCoil-One specific characteristics are described in its data sheet: \url{https://web.archive.org/web/20240228161416/https://tactilelabs.com/wp-content/uploads/2023/11/HapCoil_One_datasheet.pdf}}.
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@@ -149,7 +149,7 @@ The tactile texture is described and rendered in this work as a one dimensional
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\subsection{System Latency}
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\label{sec:latency}
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\label{latency}
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%As shown in \figref{method/diagram} and described above, the system includes various haptic and visual sensors and rendering devices linked by software processes for image processing, 3D rendering and audio generation.
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