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Erwan Normand
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1-background/related-work/2-wearable-haptics.tex
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@@ -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.