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

@@ -226,7 +226,7 @@ For patterned textures, as illustrated in \figref{delhaye2012textureinduced}, th
   \lambda \sim \frac{v}{f_p}
 \end{equation}
 
-The vibrations generated by exploring everyday textures are also very specific to each texture and similar between individuals, making them identifiable by vibration alone \cite{manfredi2014natural,greenspon2020effect}.
+The vibrations generated by exploring everyday textures are also specific to each texture and similar between individuals, making them identifiable by vibration alone \cite{manfredi2014natural,greenspon2020effect}.
 This shows the importance of vibration cues even for macro textures and the possibility of generating virtual texture sensations with vibrotactile rendering.
 
 \fig[0.55]{delhaye2012textureinduced}{Speed of finger exploration (horizontal axis) on grating textures with different periods $\lambda$ of spacing (in color) and frequency of the vibration intensity peak $f_p$ propagated in the wrist (vertical axis) \cite{delhaye2012textureinduced}.}

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

@@ -38,7 +38,7 @@ However, it cannot constrain the movements of the wrist and the reaction force i
 Such \emph{body-grounded} devices are often heavy and bulky and cannot be considered wearable.
 
 \textcite{pacchierotti2017wearable} defined that : \enquote{A wearable haptic interface should also be small, easy to carry, comfortable, and it should not impair the motion of the wearer}.
-An approach is then to move the grounding point very close to the end-effector (\figref{pacchierotti2017wearable_3}): the interface is limited to cutaneous haptic feedback, but its design is more compact, lightweight, comfortable and portable, \eg in \figref{grounded_to_wearable}.
+An approach is then to move the grounding point close to the end-effector (\figref{pacchierotti2017wearable_3}): the interface is limited to cutaneous haptic feedback, but its design is more compact, lightweight, comfortable and portable, \eg in \figref{grounded_to_wearable}.
 Moreover, as detailed in \secref{object_properties}, cutaneous sensations are necessary and often sufficient for the perception of the haptic properties of an object explored with the hand, as also argued by \textcite{pacchierotti2017wearable}.
 
 \begin{subfigs}{grounded_to_wearable}{Haptic devices for the hand with different wearability levels. }[][
@@ -73,7 +73,7 @@ However, these platforms are specifically designed to provide haptic feedback to
 \subsubsection{Pin and Pneumatic Arrays}
 \label{array_actuators}
 
-A pin-array is a surface made up of small, rigid pins arranged very close together in a grid and that can be moved individually.
+A pin-array is a surface made up of small, rigid pins arranged close together in a grid and that can be moved individually.
 When placed in contact with the fingertip, it can create sensations of edge, pressure and texture.
 The \figref{sarakoglou2012high} shows an example of a pin-array consisting of \numproduct{4 x 4} pins of \qty{1.5}{\mm} diameter and \qty{2}{\mm} height, spaced at \qty{2}{\mm} \cite{sarakoglou2012high}.
 Pneumatic systems use a fluid such as air or water to inflate membranes under the skin, creating sensations of contact and pressure \cite{raza2024pneumatically}.
@@ -153,7 +153,7 @@ A voice-coil actuator is a \LRA but capable of generating vibration at two \DoF,
 They are larger in size than \ERMs and \LRAs, but can generate more complex renderings.
 
 Piezoelectric actuators deform a solid material when a voltage is applied.
-They are very small and thin and provide two \DoFs of amplitude and frequency control.
+They are small and thin and provide two \DoFs of amplitude and frequency control.
 However, they require high voltages to operate, limiting their use in wearable devices.
 
 \begin{subfigs}{lra}{Diagram and performance of \LRAs. }[][
@@ -219,7 +219,7 @@ More complex models have also been developed to be physically accurate and repro
 
 \paragraph{Data-driven Models}
 
-Because simulations of realistic virtual textures can be very complex to design and to render in real-time, direct capture and models of real textures have been developed \cite{culbertson2018haptics}.
+Because simulations of realistic virtual textures can be complex to design and to render in real-time, direct capture and models of real textures have been developed \cite{culbertson2018haptics}.
 
 \textcite{okamura1998vibration} were the first to measure the vibrations produced by the interaction of a stylus dragged over sandpaper and patterned surfaces.
 They found that the contact vibrations with patterns can be modeled as exponentially decaying sinusoids (\eqref{contact_transient}) that depend on the normal force and the scanning velocity of the stylus on the surface.

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

@@ -188,7 +188,7 @@ The \emph{system control tasks} are changes to the system state through commands
 
 In \AR and \VR, the state of the system is displayed to the user as a \ThreeD spatial \VE.
 In an immersive and portable \AR system, this \VE is experienced at a 1:1 scale and as an integral part of the \RE.
-The rendering gap between the real and virtual elements, as described on the interaction loop in \figref[introduction]{interaction-loop}, is thus experienced as very narrow or even not consciously perceived by the user.
+The rendering gap between the real and virtual elements, as described on the interaction loop in \figref[introduction]{interaction-loop}, is thus experienced as narrow or even not consciously perceived by the user.
 This manifests as a sense of presence of the virtual, as described in \secref{ar_presence}.
 
 As the gap between real and virtual rendering is reduced, one could expects a similar and seamless interaction with the \VE as with a \RE, which \textcite{jacob2008realitybased} called \emph{reality based interactions}.

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

@@ -179,14 +179,14 @@ They can also simulate a texture sensation by rapidly rotating in and out.
 In a user study not in \AR, but directly touching images on a tablet, Fingeret was found to be more realistic (4/7) than a \LRA at \qty{100}{\Hz} on the nail (3/7) for rendering buttons and a patterned texture (\secref{texture_rendering}), but not different from vibrations for rendering high-frequency textures (3.5/7 for both).
 However, as with \textcite{teng2021touch}, finger speed was not taken into account when rendering vibrations, which may have been detrimental to texture perception, as described in \secref{texture_rendering}.
 
-Finally, \textcite{preechayasomboon2021haplets} (\figref{preechayasomboon2021haplets}) and \textcite{sabnis2023haptic} designed Haplets and Haptic Servo, respectively: These are very compact and lightweight vibrotactile \LRA devices designed to provide both integrated finger motion sensing and very low latency haptic feedback (\qty{<5}{ms}).
+Finally, \textcite{preechayasomboon2021haplets} (\figref{preechayasomboon2021haplets}) and \textcite{sabnis2023haptic} designed Haplets and Haptic Servo, respectively: These are compact and lightweight vibrotactile \LRA devices designed to provide both integrated finger motion sensing and low latency haptic feedback (\qty{<5}{ms}).
 However, no proper user study has been conducted to evaluate these devices in \AR.
 
 \begin{subfigs}{ar_wearable}{Nail-mounted wearable haptic devices designed for \AR. }[][
     %\item A voice-coil rendering a virtual haptic texture on a real sheet of paper \cite{ando2007fingernailmounted}.
   \item Touch\&Fold provide contact pressure and vibrations on demand to the fingertip \cite{teng2021touch}.
   \item Fingeret is a finger-side wearable haptic device that pulls and pushs the fingertip skin \cite{maeda2022fingeret}.
-  \item Haplets is a very compact nail device with integrated sensing and vibrotactile feedback \cite{preechayasomboon2021haplets}.
+  \item Haplets is a compact nail device with integrated sensing and vibrotactile feedback \cite{preechayasomboon2021haplets}.
   ]
   \subfigsheight{33mm}
   %\subfig{ando2007fingernailmounted}