Clean related work

1-introduction/related-work/2-wearable-haptics.tex

@@ -2,10 +2,12 @@
 \label{wearable_haptics}
 
 One of the roles of haptic systems is to render virtual interactions and sensations that are \emph{similar and comparable} to those experienced by the haptic sense with real objects, particularly in a visual \VE \cite{maclean2008it,culbertson2018haptics}.
+Due to the high complexity of the haptic sense and the variety of sensations it can feel, haptic actuators and renderings are designed to only address a subset of these sensations.
+While it is challenging to create a realistic haptic experience, it is more important to provide the right sensory stimulus \enquote{at the right moment and at the right place} \cite{hayward2007it}.
+
 Moreover, a haptic augmentation system should \enquote{modulating the feel of a real object by virtual [haptic] feedback} \cite{jeon2009haptic}, \ie a touch interaction with a real object whose perception is modified by the addition of virtual haptic feedback.
 The haptic system should be hand-held or worn, \eg on the hand, and \enquote{not permanently attached to or integrated in the object} \cite{bhatia2024augmenting}.
 
-
 \subsection{Level of Wearability}
 \label{wearability_level}
 
@@ -54,7 +56,6 @@ Moreover, as detailed in \secref{object_properties}, cutaneous sensations are ne
 
 % Tradeoff realistic and cost + analogy with sound, Hi-Fi costs a lot and is realistic, but 40$ BT headphone is more practical and enough, as cutaneous feedback without kinesthesic could be enough for wearable haptics and far more affordable and comfortable than world- or body-grounded haptics + cutaneous even better than kine for rendering surface curvature and fine manipulation
 
-
 \subsection{Wearable Haptic Devices for the Hand}
 \label{wearable_haptic_devices}
 
@@ -166,7 +167,6 @@ However, they require high voltages to operate, limiting their use in wearable d
   \subfig{azadi2014vibrotactile}
 \end{subfigs}
 
-
 \subsection{Modifying Perceived Haptic Roughness and Hardness}
 \label{tactile_rendering}
 
@@ -251,7 +251,6 @@ When comparing real textures felt through a stylus with their virtual models ren
   \subfig{culbertson2012refined}
 \end{subfigs}
 
-
 \subsubsection{Hardness}
 \label{hardness_rendering}
 
@@ -293,7 +292,6 @@ Conversely, the technique allowed to \emph{decrease} the perceived stiffness by
   \subfig{tao2021altering}
 \end{subfigs}
 
-
 \paragraph{Vibrations Augmentations}
 
 \textcite{okamura2001realitybased} measured impact vibrations $v(t)$ when tapping on real objects and found they can be modeled as exponential decaying sinusoid:
@@ -351,7 +349,6 @@ We describe them in the \secref{vhar_haptics}.
 %\cite{choi2017grabity}
 %\cite{culbertson2017waves}
 
-
 \subsection{Conclusion}
 \label{wearable_haptics_conclusion}
 

1-introduction/related-work/3-augmented-reality.tex

@@ -100,7 +100,7 @@ Finally, \AR displays can be head-worn like \VR \emph{headsets} or glasses, prov
 %Despite the clear and acknowledged definition presented in \secref{ar_definition} and the viewpoint of this thesis that \AR and \VR are two type of \MR experience with different levels of mixing real and virtual environments, as presented in \secref[introduction]{visuo_haptic_augmentations}, there is still a debate on defining \AR and \MR as well as how to characterize and categorized such experiences \cite{speicher2019what,skarbez2021revisiting}.
 
 Presence and embodiment are two key concepts that characterize the user experience in \AR and \VR.
-While there is a large literature on these topics in \VR, they are less defined and studied for \AR \cite{tran2024survey,genay2022being}.
+While there is a large literature on these topics in \VR, they are less defined and studied for \AR \cite{genay2022being,tran2024survey}.
 Still, these concepts are useful to design, evaluate and discuss our contributions in the next chapters.
 
 \paragraph{Presence}
@@ -110,15 +110,15 @@ Still, these concepts are useful to design, evaluate and discuss our contributio
 Such experience of disbelief suspension in \VR is what is called \emph{presence}, and it can be decomposed into two dimensions: place illusion and plausibility \cite{slater2009place}.
 Place illusion is the sense of the user of \enquote{being there} in the \VE (\figref{presence-vr}).
 It emerges from the real time rendering of the \VE from the user's perspective: to be able to move around inside the \VE and look from different point of views.
-plausibility is the illusion that the virtual events are really happening, even if the user knows that they are not real.
+Plausibility is the illusion that the virtual events are really happening, even if the user knows that they are not real.
 It doesn't mean that the virtual events are realistic, but that they are plausible and coherent with the user's expectations.
 
 %The \AR presence is far less defined and studied than for \VR \cite{tran2024survey}
 For \AR, \textcite{slater2022separate} proposed to invert place illusion to what we can call \enquote{object illusion}, \ie the sense of the \VO to \enquote{feels here} in the \RE (\figref{presence-ar}).
 As with VR, \VOs must be able to be seen from different angles by moving the head but also, this is more difficult, be consistent with the \RE, \eg occlude or be occluded by real objects \cite{macedo2023occlusion}, cast shadows or reflect lights.
 The plausibility can be applied to \AR as is, but the \VOs must additionally have knowledge of the \RE and react accordingly to it.
-\textcite{skarbez2021revisiting} also named place illusion for \AR as \enquote{immersion} and plausibility as \enquote{coherence}, and these terms will be used in the remainder of this thesis.
-One main issue with presence is how to measure it both in \VR \cite{slater2022separate} and \AR \cite{tran2024survey}.
+%\textcite{skarbez2021revisiting} also named place illusion for \AR as \enquote{immersion} and plausibility as \enquote{coherence}, and these terms will be used in the remainder of this thesis.
+%One main issue with presence is how to measure it both in \VR \cite{slater2022separate} and \AR \cite{tran2024survey}.
 
 \begin{subfigs}{presence}{The sense of immersion in virtual and augmented environments. Adapted from \textcite{stevens2002putting}. }[
         \item Place illusion is the sense of the user of \enquote{being there} in the \VE.

1-introduction/related-work/4-visuo-haptic-ar.tex

@@ -3,22 +3,13 @@
 
 Everyday perception and manipulation of objects with the hand typically involves both the visual and haptic senses.
 Each sense has unique capabilities for perceiving certain object properties, such as color for vision or temperature for touch, but they are equally capable for many properties, such as roughness, hardness, or geometry \cite{baumgartner2013visual}.
-Both \AR and wearable haptic systems integrate virtual content into the user's perception as sensory illusions.
-It is essential to understand how a multimodal visuo-haptic rendering of a \VO is perceived.%, especially in immersive \AR where the haptic actuator is moved away so as not to cover the inside of the hand.
 
-% Answer the following four questions: “Who else has done work with relevance to this work of yours? What did they do? What did they find? And how is your work here different?”
+Both \AR and wearable haptic systems integrate virtual content into the user's perception as sensory illusions.
+It is essential to understand how a multimodal visuo-haptic rendering of a \VO is perceived as a coherent object property, and how wearable haptics have been integrated with immersive \AR.%, especially in immersive \AR where the haptic actuator is moved away so as not to cover the inside of the hand.
 
 % spatial and temporal integration of visuo-haptic feedback as perceptual cues vs proprioception and real touch sensations
 % delocalized : not at the point of contact = difficult to integrate with other perceptual cues ?
 
-%Go back to the main objective "to understand how immersive visual and wearable haptic feedback compare and complement each other in the context of direct hand perception and manipulation with augmented objects" and the two research challenges: "providing plausible and coherent visuo-haptic augmentations, and enabling effective manipulation of the augmented environment."
-%Also go back to the \figref[introduction]{visuo-haptic-rv-continuum3} : we present previous work that either did haptic AR (the middle row), or haptic VR with visual AR, or visuo-haptic AR.
-
-% One of the roles of haptic systems is to render virtual interactions and sensations that are \emph{similar and comparable} to those experienced by the haptic sense with real objects, particularly in visual \VE \cite{maclean2008it,culbertson2018haptics}. Moreover, a haptic \AR system should \enquote{modulating the feel of a real object by virtual [haptic] feedback} \cite{jeon2009haptic}, \ie a touch interaction with a real object whose perception is modified by the addition of virtual haptic feedback.
-
-% Finally, we present how multimodal visual and haptic feedback have been combined in \AR to modify the user perception of tangible objects, and to improve the user interaction with \VOs.
-
-
 \subsection{Visuo-Haptic Perception of Virtual and Augmented Objects}
 \label{sensations_perception}
 
@@ -70,7 +61,6 @@ The \MLE model implies that when seeing and touching a \VO in \AR, the combinati
 %As long as the user is able to associate the sensations as the same object property, and even if there are discrepancies between the sensations, the overall perception can be influenced by changing one of the stimuli, as discussed in the next sections.
 %for example by including tangible objects, wearable haptic feedback, or even by altering the visual rendering of the \VO, as discussed in the next sections.
 
-
 \subsubsection{Influence of Visual Rendering on Tangible Perception}
 \label{visual_haptic_influence}
 
@@ -153,7 +143,6 @@ No participant (out of 19) was able to detect a \qty{50}{\ms} visual lag and a \
 These studies have shown how the latency of the visual rendering of a \VO or the type of environment (\VE or \RE) can affect the perceived haptic stiffness of the object, rendered with a grounded force-feedback device.
 We describe in the next section how wearable haptics have been integrated with immersive \AR.
 
-
 \subsection{Wearable Haptics for Direct Hand Interaction in AR}
 \label{vhar_haptics}
 
@@ -166,7 +155,6 @@ Other wearable haptic actuators have been proposed for \AR, but are not discusse
 A first reason is that they permanently cover the fingertip and affect the interaction with the \RE, such as thin-skin tactile interfaces \cite{withana2018tacttoo,teng2024haptic} or fluid-based interfaces \cite{han2018hydroring}.
 Another category of actuators relies on systems that cannot be considered as portable, such as REVEL \cite{bau2012revel}, which provide friction sensations with reverse electrovibration that must modify the real objects to augment, or Electrical Muscle Stimulation (EMS) devices \cite{lopes2018adding}, which provide kinesthetic feedback by contracting the muscles.
 
-
 \subsubsection{Nail-Mounted Devices}
 \label{vhar_nails}
 
@@ -203,7 +191,6 @@ However, no proper user study has been conducted to evaluate these devices in \A
   \subfig{preechayasomboon2021haplets}
 \end{subfigs}
 
-
 \subsubsection{Belt Devices}
 \label{vhar_rings}