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1-introduction/introduction.tex
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\chaptertoc
\bigskip
%This PhD manuscript shows how wearable haptics, worn on the outside of the hand, can improve direct hand interaction in immersive \AR by augmenting the perception of the virtual content and its manipulation.
In this manuscript thesis, we show how immersive \AR, which integrates visual virtual content into the real world perception, and wearable haptics, which provide tactile sensations on the skin, can improve the free and direct interaction of virtual objects with the hand.
Our goal is to enable users to perceive and interact with wearable visuo-haptic augmentations in a more realistic and effective way, as if they were real.
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However, \textbf{manipulating a purely virtual object with the bare hand can be challenging}, especially without good haptic feedback \cite{maisto2017evaluation,meli2018combining}. %, and one will rely on visual and haptic feedback to guide the interaction.
In addition, wearable haptic devices are limited to cutaneous feedback, and cannot provide forces to constrain the hand contact with the virtual object \cite{pacchierotti2017wearable}.
Current \AR systems have visual rendering limitations that also affect interaction with virtual objects. %, due to depth underestimation, a lack of mutual occlusions, and hand tracking latency.
Current \AR systems have visual rendering limitations that also affect interaction with virtual objects. %, due to depth underestimation, a lack of mutual occlusions, and hand tracking latency.
\AR is the display of superimposed images of the virtual world, synchronized with the user's current view of the real world.
However, the depth perception of virtual objects is often underestimated \cite{peillard2019studying,adams2022depth}.
There is also often \textbf{a lack of mutual occlusions between the hand and a virtual object}, that is the hand can hide the object or be hidden by the object \cite{macedo2023occlusion}.
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The visual rendering is done using the immersive \OST-\AR headset Microsoft HoloLens~2.
The system allows free visual and haptic exploration of the textures, as if they were real, and forms the basis of the next two chapters.
In \textbf{\chapref{xr_perception}}, we investigate in a user study how different the perception of haptic texture augmentations is in \AR \vs \VR and when touched by a virtual hand \vs one's own hand.
In \textbf{\chapref{xr_perception}}, we investigate in a psychophysical user study how different the perception of haptic texture augmentations is in \AR \vs \VR and when touched by a virtual hand \vs one's own hand.
We use psychophysical methods to measure user perception and extensive questionnaires to understand how this perception is affected by the visual feedback of the virtual hand and the environment (real, augmented or virtual).
In \textbf{\chapref{vhar_textures}}, we evaluate in a user study the perception of visuo-haptic texture augmentations directly touched with the real hand in \AR.