Corrections from Claudio's comments

2-related-work/1-haptic-hand.tex

@@ -5,14 +5,15 @@
 
 The haptic sense has specific characteristics that make it unique in regard to other senses.
 It enables us to perceive a large diversity of properties of everyday objects, up to a complex combination of sensations produced by numerous sensory receptors distributed throughout the body, but especially in the hand \cite{johansson2009coding}.
-It also allows us to act on these objects with the hand, to come into contact with them, to grasp them and to actively explore them. % , and to manipulate them.
+It also allows us to act on these objects, to come into contact with them, to grasp them and to actively explore them. % , and to manipulate them.
 %This implies that the haptic perception is localized at the points of contact between the hand and the environment, \ie we cannot haptically perceive an object without actively touching it.
 These two mechanisms, \emph{action} and \emph{perception}, are closely associated and both are essential to form a complete haptic experience of interacting with the environment using the hand \cite{lederman2009haptic}.
 
 \subsection{The Haptic Sense}
 \label{haptic_sense}
 
-Perceiving the properties of an object involves numerous sensory receptors embedded in the skin, but also in the muscles and joints of the hand, and distributed throughout the body. They can be divided into two main modalities: \emph{cutaneous} and \emph{kinesthetic} \cite{lederman2009haptic}.
+Perceiving the properties of an object involves numerous sensory receptors embedded in the skin, but also in the muscles and joints of the hand, and distributed throughout the body.
+They can be divided into two main modalities, depending on their location in the body: \emph{cutaneous} and \emph{kinesthetic} \cite{lederman2009haptic}.
 
 \subsubsection{Cutaneous Modality}
 \label{cutaneous_sensitivity}
@@ -60,17 +61,17 @@ Finally, free nerve endings (without specialized receptors) provide information
 \subsubsection{Kinesthetic Modality}
 \label{kinesthetic_sensitivity}
 
-Kinesthetic receptors are also mechanoreceptors, but are located in muscles, tendons and joints \cite{jones2006human}.
+Kinesthetic receptors are the mechanoreceptors located in muscles, tendons and joints \cite{jones2006human}.
 Muscle spindles respond to the length and rate of stretch/contraction of muscles.
 Golgi tendon organs, located at the junction of muscles and tendons, respond to the force developed by the muscles.
-Ruffini and Pacini receptors are located in the joints and respond to joint movement.
+Ruffini and Pacini receptors (\secref{cutaneous_sensitivity}) are located in the joints and respond to joint movement.
 Together, these receptors provide sensory feedback about the movement, speed and strength of the muscles and the rotation of the joints during movement.
 They can also sense external forces and torques applied to the body.
 
 Kinesthetic receptors are therefore closely linked to the motor control of the body.
 By providing sensory feedback in response to the position and movement of our limbs, they enable us to perceive our body in space, a perception called \emph{proprioception}.
 This allows us to plan and execute precise movements to touch or grasp a target, even with our eyes closed.
-Cutaneous mechanoreceptors (\secref{cutaneous_sensitivity}) are also involved in proprioception \cite{johansson2009coding}.
+Cutaneous mechanoreceptors within the skin are also involved in proprioception \cite{johansson2009coding}.
 
 \subsection{Hand-Object Interactions}
 \label{hand_object_interactions}

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

@@ -67,7 +67,7 @@ Multiple actuators are often combined in a haptic device to provide richer feedb
 
 The moving platforms translate perpendicularly on the skin to create sensations of contact, pressure and edges \cite{pacchierotti2017wearable}.
 Placed under the fingertips, they can come into contact with the skin with different forces, speeds and orientations.
-The platform is moved by means of cables, \eg in \figref{gabardi2016new}, or articulated arms, \eg in \figref{perez2017optimizationbased}, activated by motors grounded to the nail \cite{gabardi2016new,perez2017optimizationbased}.
+The platform is moved by means of cables, \eg in \figref{gabardi2016new}, or articulated arms, \eg in \figref{chinello2017three}, activated by motors grounded to the nail \cite{gabardi2016new,chinello2017three}.
 The motors lengthen and shorten the cables or orient the arms to move the platform over 3 \DoFs: two for orientation and one for normal force relative to the finger.
 However, these platforms are specifically designed to provide haptic feedback to the fingertip in \VEs, preventing interaction with a \RE.
 
@@ -85,13 +85,13 @@ Although these two types of effector can be considered wearable, their actuation
     Normal indentation actuators for the fingertip.
   }[][
   \item A moving platform actuated with cables \cite{gabardi2016new}.
-  \item A moving platform actuated by articulated limbs \cite{perez2017optimizationbased}.
+  \item A moving platform actuated by articulated limbs \cite{chinello2017three}.
   \item Diagram of a pin-array of tactors \cite{sarakoglou2012high}.
   \item A pneumatic system composed of a \numproduct{12 x 10} array of air cylinders \cite{ujitoko2020development}.
   ]
   \subfigsheight{37mm}
   \subfig{gabardi2016new}
-  \subfig{perez2017optimizationbased}
+  \subfig{chinello2017three}
   \subfig{sarakoglou2012high}
   \subfig{ujitoko2020development}
 \end{subfigs}

2-related-work/3-augmented-reality.tex

@@ -222,9 +222,11 @@ An alternative is to use a single \emph{universal} tangible object like a hand-h
 These \emph{time-multiplexed} interfaces require interaction techniques that allow the user to pair the tangible with any virtual object, \eg by placing the tangible into the virtual object and pressing the fingers \cite{issartel2016tangible} (\figref{issartel2016tangible}), similar to a real grasp (\secref{grasp_types}).
 
 Still, the virtual visual rendering and the real haptic sensations can be incoherent.
-Especially in \OST-\AR, since the virtual objects are inherently slightly transparent allowing the paired real objects to be seen through them.
-In a pick-and-place task with real objects, a difference in size \cite{kahl2021investigation} (\figref{kahl2021investigation}) and shape \cite{kahl2023using} (\figref{kahl2023using_1}) of the virtual objects does not affect user performance or presence, and that small variations (\percent{\sim 10} for size) were not even noticed by the users.
-This suggests the feasibility of using simplified real obejcts in \AR whose spatial properties (\secref{object_properties}) abstract those of the virtual objects.
+In \VR, some discrepancy between the real and virtual objects is acceptable because the real object is not visible to the user \cite{detinguy2019how,detinguy2019universal}.
+In \AR, however, the real object may be partially or fully visible, and the user can see that their hand is not touching the real and virtual objects at the same time.
+This is particularly true in \OST-\AR, where the virtual objects are inherently slightly transparent allowing the paired real objects to be seen through them \cite{macedo2023occlusion}.
+In a pick-and-place task with real objects in \OST-\AR, a difference in size \cite{kahl2021investigation} (\figref{kahl2021investigation}) and shape \cite{kahl2023using} (\figref{kahl2023using_1}) of the virtual objects does not affect user performance or presence, and that small variations (\percent{\sim 10} for size) were not even noticed by the users.
+This suggests the feasibility of using simplified real objects in \AR whose spatial properties (\secref{object_properties}) abstract those of the virtual objects.
 Similarly, in \secref{tactile_rendering} we described how a material property (\secref{object_properties}) of a touched real object can be modified using wearable haptic devices \cite{detinguy2018enhancing,salazar2020altering}: it could be used to render coherent visuo-haptic material perceptions directly touched with the hand in \AR.
 
 \begin{subfigs}{ar_tangibles}{Manipulating virtual objects through real objects. }[][