diff --git a/3-perception/vhar-system/2-method.tex b/3-perception/vhar-system/2-method.tex
index c632e4d..a3a2bf8 100644
--- a/3-perception/vhar-system/2-method.tex
+++ b/3-perception/vhar-system/2-method.tex
@@ -88,8 +88,8 @@ A sample $r(t_j, t_k)$ of the audio signal at sampling time $t_k$, with $t_k >=
 \begin{subequations}
   \label{eq:signal}
   \begin{align}
-    r(t_j, t_k) & = A\, \text{sgn} ( \sin (2 \pi \frac{\dot{x}\,(t_j)}{\lambda} t_k + \phi_j ) ) & \label{eq:signal_speed} \\
-    \phi_j        & = \phi_{j-1} + 2 \pi \frac{\dot{x}\,(t_j) - \dot{x}\,(t_j - 1)}{\lambda} t_k                 & \label{eq:signal_phase}
+    r(t_j, t_k) & = A\, \text{sgn} ( \sin (2 \pi \frac{\dot{x}\,(t_j)}{\lambda} t_k + \phi(t_j) ) ) & \label{eq:signal_speed} \\
+    \phi(t_j)        & = \phi(t_{j-1}) + 2 \pi \frac{\dot{x}\,(t_j) - \dot{x}\,(t_{j-1})}{\lambda} t_k                 & \label{eq:signal_phase}
   \end{align}
 \end{subequations}
 
@@ -97,7 +97,7 @@ This rendering preserves the sensation of a constant spatial frequency of the vi
 %
 %Note that the finger position and velocity are transformed from the camera frame $\poseFrame{c}$ to the texture frame $\poseFrame{t}$, with the $x$ axis aligned with the texture direction.
 %
-%However, when a new finger position is estimated at time $t_j$, the phase $\phi_j$ needs to be adjusted as well with the frequency to ensure a continuity in the signal as described in \eqref{signal_phase}.
+%However, when a new finger position is estimated at time $t_j$, the phase $\phi(t_j)$ needs to be adjusted as well with the frequency to ensure a continuity in the signal as described in \eqref{signal_phase}.
 %
 The phase matching avoids sudden changes in the actuator movement thus affecting the texture perception in an uncontrolled way (\figref{phase_adjustment}) and, contrary to previous work \cite{asano2015vibrotactile,ujitoko2019modulating}, it enables a free exploration of the texture by the user with no constraints on the finger speed.
 A square wave is chosen to get a rendering closer to a real grating texture with the sensation of crossing edges \cite{ujitoko2019modulating}, and because the roughness perception of sine wave textures has been shown not to reproduce the roughness perception of real grating textures \cite{unger2011roughness}.
diff --git a/3-perception/vhar-textures/figures/results/rankings.pdf b/3-perception/vhar-textures/figures/results/rankings.pdf
new file mode 100644
index 0000000..9728297
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diff --git a/5-conclusion/résumé.tex b/5-conclusion/résumé.tex
index d334096..868f299 100644
--- a/5-conclusion/résumé.tex
+++ b/5-conclusion/résumé.tex
@@ -3,6 +3,13 @@
 
 \nochaptertoc
 
+% Résumé vulgarisé en 700 caractères
+% Les dispositifs haptiques portables procurent des sensations tactiles tout en étant compacts.
+% Mais ils ont été peu utilisés en réalité augmentée (RA), où le contenu virtuel est intégré à la perception du monde réel.
+% Cette thèse explore leur potentiel pour améliorer les interactions de la main avec des objets virtuels en RA.
+% Nous étudions d'abord l'impact du rendu visuel sur la perception des textures vibrotactiles virtuelles qui augmentent des surfaces réelles touchées directement par le doigt.
+% Nous étudions ensuite comment des retours sensoriels visuo-haptiques augmentant la main améliorent les performances et l’expérience utilisateur lors de la manipulation d'objets virtuels en RA.
+
 \selectlanguage{french}
 
 Dans ce manuscrit de thèse, nous montrons comment la \emph{réalité augmentée (RA)}, qui intègre un contenu visuel virtuel dans la perception du monde réel, et l'\emph{haptique portable}, qui fournit des sensations tactiles sur la peau, peuvent améliorer les interactions de la main avec des objets virtuels et augmentés.
diff --git a/covers.odt b/covers.odt
index dc1d9ed..f11743a 100644
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diff --git a/covers.pdf b/covers.pdf
index 5d5dadb..554135a 100644
Binary files a/covers.pdf and b/covers.pdf differ
diff --git a/references.bib b/references.bib
index 031f77c..96ff939 100644
--- a/references.bib
+++ b/references.bib
@@ -2614,7 +2614,7 @@
   title = {Enlarging a {{Smartphone}} with {{AR}} to {{Create}} a {{Handheld VESAD}} ({{Virtually Extended Screen-Aligned Display}})},
   booktitle = {{{IEEE Int}}. {{Symp}}. {{Mix}}. {{Augment}}. {{Real}}.},
   author = {Normand, Erwan and McGuffin, Michael J.},
-  date = {2018},
+  date = {2018-10},
   pages = {123--133},
   doi = {10/gm7xsc}
 }
@@ -2630,7 +2630,7 @@
 @article{normand2024visuohaptic,
   title = {Visuo-{{Haptic Rendering}} of the {{Hand}} during {{3D Manipulation}} in {{Augmented Reality}}},
   author = {Normand, Erwan and Pacchierotti, Claudio and Marchand, Eric and Marchal, Maud},
-  date = {2024},
+  date = {2024-01},
   journaltitle = {IEEE Trans. Haptics},
   volume = {17},
   number = {2},