Add remaining report comments

3-perception/vhar-system/2-method.tex

@@ -1,6 +1,8 @@
 \section{Concept}
 \label{principle}
 
+\comans{SJ}{The rationale behind the proposed design is not provided. Since there are multiple ways to implement mechanically transparent haptic devices, the thesis should at least clarify why this design is considered optimal for a specific purpose at this stage.}{TODO}
+
 The visuo-haptic texture rendering system is based on:
 \begin{enumerate}[label=(\arabic*)]
   \item a real-time interaction loop between the finger movements and a coherent visuo-haptic feedback simulating the sensation of a touched texture,
@@ -125,3 +127,7 @@ The total visual latency can be considered slightly high, yet it is typical for
 The two filters also introduce a constant lag between the finger movement and the estimated position and velocity, measured at \qty{160 \pm 30}{\ms}.
 With respect to the real hand position, it causes a distance error in the displayed virtual hand position, and thus a delay in the triggering of the vibrotactile signal.
 This is proportional to the speed of the finger, \eg distance error is \qty{1.2 \pm .2}{\cm} when the finger moves at \qty{7.5}{\cm\per\second}.
+
+The velocity estimation and delay effects should be examined in more detail, as these
+factors are critical for ensuring the perceptual quality of the system. A 36 ms discrepancy
+between movement and feedback may not be sufficient in all scenarios.