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Erwan Normand
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1-introduction/introduction.tex
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@@ -184,7 +184,7 @@ However, \textbf{manipulating a purely virtual object with the bare hand can be
In addition, 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 occlusion between the hand and a virtual object}, that is the hand can hide the object or be hidden by the object \cite{macedo2023occlusion}.
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}.
Finally, as illustrated in our interaction loop \figref{interaction-loop}, interaction with a virtual object is an illusion, because the real hand controls in real time a virtual hand, like an avatar, whose contacts with virtual objects are then simulated in the \VE.
Therefore, there is inevitably a latency between the movements of the real hand and the feedback movements of the virtual object, and a spatial shift between the real hand and the virtual hand, whose movements are constrained to the virtual object touched \cite{prachyabrued2014visual}.
These three rendering limitations make it \textbf{difficult to perceive the position of the fingers relative to the object} before touching or grasping it, but also to estimate the force required to grasp the virtual object and move it to a desired location.
@@ -219,7 +219,7 @@ Our contributions are summarized in \figref{contributions}.
\subsectionstarbookmark{Axis I: Augmenting the Texture Perception of Real Surfaces}
Wearable haptic devices have proven effective in modifying the perception of a touched real surface, without altering the object or covering the fingertip, forming haptic augmentation \cite{bau2012revel,detinguy2018enhancing,salazar2020altering}.
%It is achieved by placing the haptic actuator close to the fingertip, to let it free to touch the surface, and rendering tactile stimuli timely synchronised with the finger movement.
%It is achieved by placing the haptic actuator close to the fingertip, to let it free to touch the surface, and rendering tactile stimuli timely synchronized with the finger movement.
%It enables rich haptic feedback as the combination of kinesthetic sensation from the real and cutaneous sensation from the actuator.
However, wearable haptic augmentation with \AR has been little explored, as well as the visuo-haptic augmentation of texture.
Texture is indeed one of the most fundamental perceived properties of a surface material \cite{hollins1993perceptual,okamoto2013psychophysical}, perceived equally well by sight and touch \cite{bergmanntiest2007haptic,baumgartner2013visual}, and one of the most studied haptic (only, without visual) augmentation \cite{unger2011roughness,culbertson2014modeling,asano2015vibrotactile,strohmeier2017generating,friesen2024perceived}.
@@ -277,7 +277,7 @@ Finally, we describe how visuo-haptic feedback has augmented direct hand interac
We then address each of our two research axes in a dedicated part.
\noindentskip
In \textbf{\partref{perception}} we present our contributions to the first axis of research: modifying the visuo-haptic texture perception of real surfaces.
In \textbf{\partref{perception}}, we present our contributions to the first axis of research: modifying the visuo-haptic texture perception of real surfaces.
We evaluate how the visual feedback of the hand (real or virtual), the environment (\AR or \VR) and the textures (coherent, different or not shown) affect the perception of virtual vibrotactile textures rendered on real surfaces and touched directly with the index finger.
In \textbf{\chapref{vhar_system}}, we design and implement a system for rendering visuo-haptic virtual textures that augment real surfaces. %, using an immersive \OST-\AR headset and a wearable vibrotactile device.