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\section{Summary}
In this thesis, entitled \enquote{\textbf{\ThesisTitle}}, we presented our research on direct hand interaction with real and virtual everyday objects, visually and haptically augmented using immersive \AR and wearable haptic devices.
The first axis of our research was the \textbf{}.
The second axis was the \textbf{}.
% we presented our research on direct hand interaction with real and virtual everyday objects, visually and haptically augmented using immersive \AR and wearable haptic devices.
In this thesis, entitled \enquote{\textbf{\ThesisTitle}}, we presented our research towards a coherent, natural and seamless visuo-haptic augmented reality that enables perception and interaction with everyday objects directly with the hand.
Worn on the hand, wearable haptics can provide a rich tactile feedback on \VOs and augment the perception of real objects, while preserving the freedom of movement and interaction with the \RE.
However, their integration with \AR is still in its infancy, and presents many design, technical and human challenges.
We focused our research on two: \textbf{(I) modifying the texture perception of tangible surfaces}, and \textbf{(II) improving the manipulation of \VOs}.
\noindentskip In \partref{perception},
\noindentskip In \partref{perception} we focused on modifying the perception of wearable virtual visuo-haptic textures that augments tangible surfaces.
%We designed wearable visuo-haptic texture augmentations and evaluated how the degree of virtuality and the rendering of the visuals influenced the perception of the haptic textures.
We (1) proposed a \textbf{wearable visuo-haptic texture augmentation system}, (2) evaluated how the perception of haptic textures is \textbf{affected by the visual virtuality of the hand} and the environment (real, augmented, or virtual), and (3) investigated the \textbf{perception of co-localized visuo-haptic texture augmentations}.
\noindentskip In \chapref{vhar_system},
\noindentskip In \chapref{xr_perception},
\noindentskip In \chapref{xr_perception}, we explored how the perception of wearable haptic augmented textures is affected by the visual virtuality of the hand and the environment, being either real, augmented or virtual.
We augmented the perceived roughness of the tangible surface by rendering virtual vibrotactile patterned textures on the voice-coil, and rendered the visual conditions with an immersive \OST-\AR headset that could be switched to a \VR only view.
We then conducted a psychophysical user study with 20 participants and extensive questionnaires to evaluate the perceived roughness augmentation in these three visual conditions.
The textures were perceived as \textbf{rougher when touched with the real hand alone} compared to a virtual hand in either \AR or \VR, possibly due to the \textbf{perceived latency} between finger movements and different visual, haptic, and proprioceptive feedbacks.
\noindentskip In \chapref{vhar_textures},
\noindentskip In \partref{manipulation}, we addressed the challenge of improving the manipulation of \VOs directly with the hand in immersive \OST-\AR.
Our approach was to design, based on the literature, and evaluate in user studies the effect of visual rendering of the hand and the delocalized haptic rendering
We first focused on (1) \textbf{the visual rendering as hand augmentation} and then on the (2) \textbf{combination of different visuo-haptic rendering of the hand manipulation with \VOs}.
\noindentskip In \partref{manipulation} we focused on improving the manipulation of \VOs directly with the hand in immersive \OST-\AR.
Our approach was to design, based on the literature, and evaluate in user studies the effect of visual rendering of the hand and the delocalized haptic rendering.
We first considered (1) \textbf{the visual rendering as hand augmentation} and then the (2) combination of different visuo-haptic \textbf{rendering of the hand manipulation with \VOs}.
\noindentskip In \chapref{visual_hand}, we investigated the visual rendering as hand augmentation.
Seen as an \textbf{overlay on the user's hand}, such visual hand rendering provide feedback on the hand tracking and the interaction with \VOs.
@@ -27,7 +34,7 @@ This rendering provided a detailed view of the tracked phalanges while being thi
\noindentskip In \chapref{visuo_haptic_hand}, we then investigated the visuo-haptic rendering as feedback of the direct hand manipulation with \VOs using wearable vibrotactile haptics.
In a user study with a similar design and 20 participants, we compared two vibrotactile contact techniques, provided at \textbf{four different delocalized positions on the user's hand}, and combined with the two most representative visual hand renderings from the previous chapter.
The results showed that providing vibrotactile feedback \textbf{improved the perceived effectiveness, realism, and usefulness when it is provided close to the fingertips}, and that the visual hand rendering complemented the haptic hand rendering well in giving a continuous feedback on the hand tracking.
The results showed that providing vibrotactile feedback \textbf{improved the perceived effectiveness, realism, and usefulness when it was provided close to the fingertips}, and that the visual hand rendering complemented the haptic hand rendering well in giving a continuous feedback on the hand tracking.
\section{Future Work}
@@ -68,7 +75,7 @@ More generally, many other haptic feedbacks could be investigated in \AR \vs \VR
\subsection*{Perception of Visual and Haptic Texture Augmentations in Augmented Reality}
\subsection*{Visual Rendering of the Hand for Manipulating Virtual Objects in AR}
\subsection*{Visual Rendering of the Hand for Manipulating \VOs in AR}
\paragraph{Other AR Displays}
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Similarly, a broader experimental study might shed light on the role of gender and age, as our subject pool was not sufficiently diverse in this regard.
Finally, all visual hand renderings received low and high rank rates from different participants, suggesting that users should be able to choose and personalize some aspects of the visual hand rendering according to their preferences or needs, and this should be also be evaluated.
\subsection*{Visuo-Haptic Rendering of Hand Manipulation With Virtual Objects in AR}
\subsection*{Visuo-Haptic Rendering of Hand Manipulation With \VOs in AR}
\paragraph{Richer Haptic Feedback}