Rename 1-introduction/ => 1-background/

1-background/introduction/figures/icons/attributions.md

@@ -0,0 +1,20 @@
+
+- <https://thenounproject.com/icon/finger-pointing-4230431/>
+- <https://thenounproject.com/icon/finger-pointing-4230346/>
+- <https://thenounproject.com/icon/vibration-6478365/> from <https://thenounproject.com/creator/iconbunny/>
+- <https://thenounproject.com/icon/hololens-1499195/> from <https://thenounproject.com/creator/daniel2021/>
+- <https://thenounproject.com/icon/hololens-sideview-966758/> from <https://thenounproject.com/creator/henningg/>
+- <https://thenounproject.com/icon/hololens-973887/> from <https://thenounproject.com/creator/henningg/>
+
+## by [Gan Khoon Lay](https://thenounproject.com/creator/leremy/) / [CC BY](https://creativecommons.org/licenses/by/3.0/)
+
+- grab
+- accuse
+- turning knob
+- pressing button
+- <https://thenounproject.com/icon/hand-using-mouse-4230206/>
+- <https://thenounproject.com/icon/hand-using-phone-4230292/>
+- <https://thenounproject.com/icon/hand-getting-cream-4230201/>
+- <https://thenounproject.com/icon/pressing-button-4230381/>
+- <https://thenounproject.com/icon/hand-holding-a-cube-4230175/>
+- <https://thenounproject.com/icon/take-a-break-4230351/>

1-background/introduction/figures/icons/noun-accuse-4230412.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" x="0px" y="0px" viewBox="0 0 246.4509 464.925125" enable-background="new 0 0 246.4509 371.9401" xml:space="preserve"><g><path d="M3.418,329.2057c0.0897-0.1477,0.2112-0.3748,0.304-0.531c9.1602-15.3943,34.5001-71.3,43.9893-96.2402   c3.5852,2.8479,9.8517,8.4167,12.4841,14.5105c1.8896,4.3652,6.3086,10.3027,11.8164,15.8789l2.1387-2.1094   c-5.1855-5.2441-9.4775-10.9814-11.2012-14.9609c-3.114-7.1985-10.5182-13.5077-14.1394-16.2921   c0.7843-2.1539,1.4191-4.0106,1.8457-5.4498c2.9242,2.2504,11.7114,9.4299,14.8523,16.698   c4.0137,9.2871,19.2383,24.7266,24.6777,25.0293l0.166-2.998c-3.5791-0.2002-18.2178-14.2627-22.0898-23.2227   c-3.9996-9.2535-15.7147-17.8766-16.756-18.6316c3.0182-11.723,2.1552-15.6793-0.0653-24.9915   c-0.5225-2.1826-1.1182-4.6875-1.7529-7.6904C46.3281,172.3746,56.0596,142.36,67.4072,120.9   c2.9034-5.4913,4.5038-10.6152,5.6439-15.2551c0.6873,5.3253,2.0569,10.7452,4.6576,14.0094   c-3.0487-0.6836-4.9622-1.7065-4.989-1.723l-1.2207,2.0654c0.1685,0.1025,4.1278,2.3169,10.2777,2.5867   c4.4244,1.9812,8.3423,2.6624,11.9635,2.6624c1.5155,0,2.9828-0.1086,4.422-0.2673c-7.2925,9.2066-12.6984,20.3424-12.8741,22.9627   l-0.0586,0.7275c-0.3955,4.6387,0.2148,8.7646,11.6797,16.0205c4.0497,2.5623,7.9681,4.0381,11.6754,4.8999   c-6.0706,3.3301-23.2587,14.6326-36.0651,41.9067l2.168,1.0156c15.0244-31.9873,36.9824-41.8506,37.2021-41.9482l-0.1453-0.3333   c1.6296,0.2234,3.2068,0.3381,4.7058,0.3381c4.6942,0,8.5461-0.9698,11.4154-1.9543c0.6409,2.7277,1.4368,5.3979,2.486,7.1155   l3.418-2.0801c-2.0459-3.3496-3.3643-12.7393-3.6963-16.0742c-0.0928-0.9131-0.8008-1.6504-1.709-1.7773   c-4.5752-0.6592-8.667-4.0039-8.7061-4.0381c-0.4248-0.3467-0.9814-0.4883-1.5137-0.4492c-0.542,0.0684-1.04,0.3516-1.3672,0.7861   c-2.4707,3.3008-8.1738,4.4482-8.2324,4.458l0.7568,3.9258c0.2588-0.0488,5.7227-1.1279,9.3457-4.5068   c1.6309,1.1035,4.4043,2.71,7.6074,3.4863c0.1508,1.2494,0.4425,3.1824,0.8057,5.2521   c-6.6681,2.3944-16.8201,3.6707-28.0127-3.4015c-10.3223-6.5332-10.083-9.3359-9.8291-12.2998l0.0635-0.7959   c0.3369-3.2812,15.1465-30.9131,26.8311-32.2363c10.2832-1.1768,40.9766,16.4551,51.9482,23.3399l2.1289-3.3887   c-1.665-1.04-40.7373-25.542-54.5264-23.9258c-0.6738,0.0763-1.3525,0.2722-2.0306,0.4681   c-0.5298-5.6714-0.6165-14.1516,2.9486-18.266c1.3672-1.5771,3.1738-2.3438,5.2002-2.373   c7.417,1.2402,15.1416,7.334,24.9121,15.0537c7.002,5.5225,14.9316,11.7871,24.6143,17.7637   c21.6357,13.3496,23.4473,20.2393,23.4619,20.3076l1.9678-0.3662l1.9824-0.2734c-0.1172-0.835-1.8066-8.5693-25.3125-23.0762   c-9.4873-5.8496-17.3193-12.0361-24.2334-17.4951c-9.9066-7.8247-17.8052-13.96-26.2579-15.6458   c2.2595-7.0123,7.229-19.1296,14.7003-19.1296c0.0391,0,0.083,0,0.127,0.0049c8.6914,0.166,44.0723,45.0439,64.3652,73.3399   c3.6914,4.8584-2.2119,22.4268-16.8848,40.8301c-14.0723,17.6465-53.2422,69.1211-57.3926,76.3721   c-4.0283,7.0557-18.6865,50.2588-19.2725,52.002l-22.6788,57.793l-0.4559,1.1621l3.7207,1.4648l23.1689-59.0479   c0.1514-0.4443,15.1514-44.668,18.9941-51.3916c3.7549-6.5625,41.8848-56.8506,57.041-75.8643   c15.3418-19.2383,22.4658-38.4717,16.9775-45.6982c-2.8601-3.9874-9.4531-13.078-17.511-23.5889l0.0208,0.0098   c0.332-0.6787,33.3545-68.3496,43.2959-80.7129c1.8286-2.276,3.4167-4.3365,4.8529-6.2592   c3.4229-3.4741,7.4664-8.775,10.2203-16.6315c0,0,0,0,0-0.0049c0.1373-0.3937,0.0677-0.7922-0.0323-1.1725   c0.4309-1.9238,0.3168-3.2782-0.0507-4.2621c-1.167-3.1006-3.501-5.4199-6.5771-6.5186   c-5.4541-1.9775-12.8174-0.2637-21.9189,4.9902c-15.3864,8.902-52.995,68.2776-58.0688,76.3568   c-9.1302-9.8907-17.2644-17.085-21.7358-17.1722c-0.0732,0-0.1465,0-0.2148,0c-10.3009,0-16.1755,13.9771-19.0125,23.5718   c-1.2305,0.3693-2.3163,0.9888-3.3173,1.7627c-2.1375-4.4885-8.9734-14.765-26.4935-12.6294   c-14.3896,1.7334-16.0498,9.9756-18.1445,20.4102c-1.2402,6.1572-2.6416,13.1348-6.7676,20.9424   c-11.6846,22.0996-21.6553,53.2422-18.1006,70.0049c0.6494,3.042,1.25,5.5762,1.7773,7.7832   c2.3145,9.7217,3.0127,12.6514-0.5029,25.3467C42.749,237.692,10.21,310.2897,0,327.1354L3.418,329.2057z M101.723,120.8304   l-0.0531-0.3601c-6.0938,0.8984-11.8457,1.7578-19.4629-2.0459c-4.9115-2.4579-6.1456-17.9382-5.78-27.2729   c1.7542-5.3607,4.6759-8.5175,12.8357-9.4995c18.3789-2.276,22.7954,11.0303,23.0383,11.8103   c-1.5735,2.6599-2.3889,5.9778-2.7185,9.4312c0.0037-0.4132-0.0763-0.8319-0.2954-1.2073   c-2.2314-3.7744-7.3242-9.7949-16.4258-7.9297c-10.0146,2.0898-11.9482,8.5498-12.3096,11.2256   c-0.0928,0.6738,0.1514,1.3477,0.6543,1.8066c0.3857,0.3467,0.8789,0.5371,1.3867,0.5371c0.1611,0,0.3271-0.0195,0.4834-0.0586   c3.8818-0.9131,17.0361-3.7549,23.7207-2.1631c0.8984,0.2148,1.8066-0.1074,2.3584-0.8594   c0.2441-0.3308,0.3516-0.7196,0.3986-1.1115c-0.3436,3.8525-0.1404,7.7771,0.2222,11.0052   C107.0184,115.7322,104.2993,118.079,101.723,120.8304z M107.3535,102.7701c-6.9385-1.6602-19.8291,1.0107-24.3457,2.0508   c0.4688-2.3926,2.4121-7.0605,10.3418-8.7109c0.9863-0.2051,1.909Line truncated

1-background/introduction/figures/icons/noun-finger-pointing-4230346.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" x="0px" y="0px" viewBox="0 0 288.8071 380.859125" enable-background="new 0 0 288.8071 304.6873" xml:space="preserve"><g><path d="M12.6498,141.7527c1.7041,7.6562,14.9902,18.1396,30.874,30.0537c4.8096,3.6084,8.96,6.7236,10.8838,8.584   c7.5635,7.3291,52.9932,17.0947,61.3184,17.7051c6.9971,0.5225,32.7539,8.7793,40.3076,14.8828   c7.6953,6.2207,43.9551,40.3271,55.7715,55.2246c11.7969,14.8877,27.0703,36.2695,27.2266,36.4844l3.252-2.3242   c-0.0171-0.0244-0.2826-0.3961-0.6714-0.9381c-3.0005-4.1827-16.1725-22.4585-26.6724-35.7074   c-12.2217-15.4101-48.3789-49.375-56.3916-55.8545c-8.3691-6.7627-34.7656-15.1807-42.5293-15.752   c-8.8135-0.6543-52.6172-10.5762-58.8281-16.5918c-2.1045-2.041-6.1475-5.0732-11.2695-8.9111   c-7.0227-5.2692-16.2946-12.2357-22.5537-18.3771c2.5781-1.6364,6.6614-4.7601,8.9209-9.3573l-2.1582-1.0547   c-2.1106,4.2926-6.178,7.2308-8.457,8.6316c-1.8256-1.9385-3.2623-3.7531-4.1479-5.3741c0.6641-0.899,2.0233-2.3669,4.6509-3.4576   l-0.918-2.2168c-2.2614,0.9393-3.7628,2.1655-4.7748,3.2239c-0.1819-0.7867-0.4492-1.6571-0.7111-2.5214   c0.7825-1.1743,3.4698-4.4031,10.4858-6.4203l-0.6641-2.3047c-5.8685,1.6858-9.0509,4.2004-10.7098,6.0077   c-1.1011-3.1134-2.489-6.4941-3.9624-9.9292l6.9574-5.2386c1.1523-0.8691,1.6553-2.3291,1.2744-3.7158   c-0.9766-3.5645-3.1885-9.9707-7.0801-12.8223c-0.7336-0.542-1.5198-0.8685-2.3279-1.0693   c2.1417-0.0354,5.0702,0.401,9.3445,1.9727c10.0293,3.6719,20.4785,23.8477,20.5859,24.0527   c0.3418,0.6689,1.0254,1.0889,1.7773,1.0889c2.7686,0,6.2158,1.709,9.5508,3.3643c5.415,2.6904,11.543,5.7373,15.7568,1.1719   c7.3633-7.959-6.3916-36.8457-20.8252-64.0527c-1.0938-2.0605-1.9189-3.623-2.3633-4.5166   c-1.4648-2.9785-7.0459-10.9033-13.5107-20.0781C21.102,32.8904,8.8266,15.4636,8.0453,11.5037   C7.6352,9.4431,7.5912,6.6599,9.7055,5.0925c0.3326-0.2466,0.7556-0.3839,1.1578-0.5475   c-0.6781,1.0602-0.9656,2.2382-0.7526,3.4869c0.708,4.2285,7.0264,10.0244,9.9902,10.0195c0.0635,0,0.1221,0,0.1807-0.0049   c0.451-0.0378,1.8451-0.1746,8.844-3.1915c3.1842,3.0005,6.6492,6.3104,9.823,9.3439   c10.6152,10.1465,17.207,16.3965,19.2529,17.6563c2.7051,1.7285,18.7939,25.3418,29.3555,41.5625l3.3496-2.1875   c-2.4072-3.6945-10.1959-15.5896-17.4097-25.9308c16.391,6.5564,44.5917,22.8888,44.9048,23.0695l2.0117-3.457   c-1.3757-0.7977-32.3596-18.7469-48.4241-24.4611c0.1398-0.2112,0.1978-0.4919,0.3625-0.6805   c1.2939-1.46,3.4473-2.041,5.4932-1.5039c12.4512,3.3691,48.1104,24.5947,48.4668,24.8096l2.0508-3.4375   c-0.9613-0.5725-15.976-9.5026-29.9683-16.6858c1.4471-0.119,2.6062-0.0537,3.4546,0.2014   c12.3486,3.7012,33.7842,16.7334,37.793,21.4551c2.0361,2.3975,7.9346,11.1377,14.7656,21.25   c11.0547,16.377,24.8193,36.7578,32.0068,44.9414c5.6006,6.3818,10.4883,8.418,14.7998,10.21   c4.9121,2.0459,9.1553,3.8135,13.9355,11.9678c9.4092,16.0571,67.8857,62.0428,71.0767,64.5428   c0.0201,0.0153,0.0946,0.0739,0.1099,0.0861l2.4707-3.1445c-0.6104-0.4785-61.123-47.998-70.21-63.5059   c-5.4492-9.3115-10.7373-11.5088-15.8447-13.6377c-4.1016-1.709-8.3398-3.4717-13.3301-9.1553   c-7.0215-7.998-20.708-28.2617-31.6992-44.541c-7.1826-10.6348-12.8564-19.0332-15.0342-21.6016   c-4.7412-5.5908-27.251-18.9697-39.6875-22.6953c-3.125-0.9473-7.3395-0.155-10.603,0.6305   c-5.3308-2.5739-10.1581-4.6423-13.5083-5.5475c-3.5156-0.9766-7.2607,0.1172-9.5459,2.7246   c-0.3284,0.3754-0.4449,0.9045-0.7123,1.3263c-3.7927-5.2039-6.9458-9.1595-8.3307-10.0128   c-1.8311-1.1279-10.7373-9.6338-18.5889-17.1387c-4.7772-4.566-8.6133-8.205-11.8951-11.2695   c-1.438-1.7938-3.9691-4.3237-6.9537-6.3043c-1.2195-1.0284-2.1283-1.7194-2.6843-2.016   c-4.375-2.3486-9.5459-2.2852-12.8516,0.1611C5.6088,3.1492,2.9135,6.1912,4.1196,12.28   c0.8789,4.4482,9.9512,17.5781,22.6709,35.6348c6.1035,8.6621,11.8652,16.8457,13.1982,19.5459   c0.4492,0.918,1.2939,2.5146,2.4121,4.624c23.0225,43.4033,24.3555,56.294,21.4209,59.4629   c-2.0264,2.207-5.5176,0.6982-11.04-2.0361c-3.3301-1.6553-6.7627-3.3594-10.0879-3.7207   c-2.3779-4.3848-12.0361-21.2305-22.2266-24.9658c-7.0312-2.5732-12.4316-2.9541-16.04-1.123   c-2.0996,1.0645-3.5742,2.8809-4.2627,5.249c-0.2576,0.8936-0.1917,2.0807,0.0525,3.4564   c-0.0214,0.1672-0.166,0.2594-0.1697,0.4352v0.0049c-0.0708,4.6185,3.49,12.0032,6.1456,15.7312   C8.8815,130.814,11.6495,137.2379,12.6498,141.7527z M16.434,118.3054l-7.5781,5.6055c-0.1172-0.0146-0.293-0.1025-0.4443-0.3076   c-2.5342-3.3887-6.0254-10.625-5.9619-14.7119c0.0049-0.3369,0.0781-0.7959,0.376-1.1035c1.6748-1.7285,4.8926-4.3066,7.832-2.1729   c3.4229,2.5146,5.4639,8.8965,6.1816,11.5234C16.9565,117.573,16.8002,118.0271,16.434,118.3054z M20.0473,15.6541   c-1.3477,0-6.9727-4.4678-7.5732-8.0225c-0.3223-1.9141,1.499-3.1641,3.0859-3.877c0.2686-0.1172,0.5762-0.1758,0.9229-0.1758   c0.2832,0,0.5859,0.0391,0.918,0.1172c4.3018,1.0303,9.4971,6.2109,11.3281,8.7207c-6.6504,2.8906-8.3008,3.208-8.6523,3.2373   C20.0668,15.6541,20.0571,15.6541,20.0473,15.6541z"/></g><text x="0" y="319.6873" fill="Line truncated

1-background/introduction/figures/icons/noun-finger-pointing-4230431.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" x="0px" y="0px" viewBox="0 0 414.7613 170.65312500000002" enable-background="new 0 0 414.7613 136.5225" xml:space="preserve"><g><g><path d="M307.8473,9.3741c-18.9844,1.04-76.5772-3.0615-110.3906-7.124c-28.5205-3.4277-32.8613-2.5928-47.207,0.1855    c-2.8662,0.5518-6.1377,1.1816-10.1025,1.8701C125.0738,6.9278,72.4029,7.2257,37.5543,7.421    c-5.8948,0.033-10.5725,0.0635-14.6466,0.0952C18.1176,6.315,7.0507,7.1683,5.4986,7.294    c-0.4645,0.0385-0.827,0.2948-1.1505,0.5786C3.3154,7.9501,2.7929,8.0435,2.5103,8.1583    c-1.8457,0.752-2.6514,4.0186-2.4902,6.8555c0.1953,3.5205,2.2461,12.1533,16.9629,16.2842    c9.0137,2.5293,29.7705,4.5361,51.748,6.6553c22.2559,2.1484,49.9512,4.8242,53.5547,7.6074    c0.8795,0.6799,1.7932,1.3464,2.7161,2.0001c-4.6503,11.2323-16.9141,43.4491-6.7493,48.1708    c8.6572,4.0137,19.126,6.333,28.4229,6.333c0.4523,0,0.8966-0.0146,1.3434-0.0256c-0.1538,0.5865-0.2246,1.0822-0.4498,1.7542    c-1.1572,3.5254-2.749,8.3496,0.4443,13.916c0.7861,1.3721,1.4844,2.8223,2.1729,4.2529    c1.8555,3.8525,3.7744,7.8369,7.2559,9.9951c5.3711,3.335,15.0732,4.5654,25.2686,4.5654c9.7021,0,19.8486-1.1182,27.1338-2.6074    c9.7998-2.002,34.2822-8.4863,49.9805-25.3906c5.3711-5.7861,9.1797-11.333,12.2363-15.7861    c4.3799-6.377,7.2705-10.5908,11.1768-10.7568c0.083,0,0.1709-0.0049,0.2637-0.0049c8.501,0,60.752,13.9404,81.0986,22.2803    c20.4541,8.3789,43.1934,18.5547,43.4229,18.6572l1.6309-3.6523c-0.0293-0.0134-0.4816-0.2155-1.2262-0.5469    c-4.9548-2.2064-24.4775-10.8496-42.3138-18.1592c-16.0382-6.571-54.3427-17.4158-73.2733-21.2115    c0.8734-2.7209,2.5977-8.9252,2.9266-16.3812l-2.998-0.1367c-0.3314,7.4676-2.1625,13.6908-2.9071,15.9601    c-1.2543-0.2234-2.3712-0.3998-3.3594-0.5304c1.3116-3.728,3.6865-11.9604,3.2782-21.8359l-2.998,0.127    c0.4181,10.1013-2.2882,18.4875-3.3789,21.4307c-0.1154,0-0.2264,0.0049-0.332,0.0098    c-5.9082,0.2441-9.4336,5.3809-14.3066,12.4854c-2.9883,4.3506-6.6992,9.7607-11.8701,15.3271    c-14.9121,16.0596-38.4326,22.2705-47.8516,24.1992c-14.8828,3.0371-40.3613,4.2285-49.4922-1.4404    c-2.4951-1.543-4.082-4.8438-5.7617-8.335c-0.7324-1.5137-1.4746-3.0518-2.3096-4.5068    c-2.3047-4.0186-1.1865-7.3975-0.1074-10.6689c0.3619-1.1066,0.6525-2.1588,0.8313-3.1915    c8.2434-0.3931,17.2137-1.1322,21.6882-3.0487c4.7412-2.0312,19.3018-7.7881,19.3066-7.7881l-1.4746-3.7207    c0,0-1.9928,0.7874-4.7278,1.8762c0.1025-0.4602,0.3333-0.9454,0.3333-1.3782c0-3.4424-18.3838-24.4238-33.8086-41.4209    l-2.959,2.6855c4.5978,5.0684,9.9005,11.0309,14.8969,16.7578c-1.9525-0.271-4.3134-0.6836-5.7806-0.9473    c-4.8389-0.8789-5.3516-0.9766-6.1816,0.1562c-0.5273,0.708-1.5332,2.8857-2.9932,6.4941    c-0.0378,0.0952,0.0372,0.1953,0.0116,0.293c-6.9763,2.9926-18.8135,5.8563-18.9374,5.8887l0.9277,3.8867    c0.5536-0.1324,13.1775-3.183,20.3821-6.4374c4.66,1.344,8.0267,2.1899,10.0122,2.5098    c-0.7782,8.1775,3.0164,15.13,3.1946,15.4462l3.4863-1.9629c-0.0378-0.0714-3.8068-6.9928-2.5385-14.422    c1.4612-1.0791,2.8656-2.7777,4.007-4.4427c6.6437,7.7618,11.7957,14.1016,12.2766,15.5151c0,0.6787-0.4639,1.9873-1.7773,3.457    l0.0769,0.069c-3.6383,1.4606-7.3267,2.9565-9.3103,3.808c-4.5508,1.9531-15.7324,2.5879-23.75,2.9004    c-8.9502,0.332-20.0049-1.9287-28.6279-5.9277c-4.6545-2.1661,0.7086-23.2483,8.4662-42.2321    c5.8667,3.8275,11.3245,6.6785,11.6315,6.8414l1.8457-3.5498c-0.0977-0.0537-9.9072-5.1709-17.1533-10.7666    c-4.209-3.2568-23.8184-5.3516-55.6104-8.4229c-20.835-2.0117-42.3828-4.0918-51.0498-6.5234    C8.9166,24.8819,5.6744,20.629,4.566,17.5186c-0.9045-2.5537-0.5292-4.7284-0.1984-5.6378    c0.5737,1.0132,1.3806,1.7877,2.5909,2.0148c0.5078,0.0977,1.1914,0.1465,2.002,0.1465c3.6255,0,9.6002-0.979,13.4076-2.5238    c4.6948-0.0372,9.8859-0.0677,15.2057-0.0983c11.9769-0.0671,26.0468-0.1477,39.9945-0.3302    c0.2478,2.0746,0.8337,5.5176,2.2076,7.4738l1.9629-1.377c-0.9515-1.3593-1.4929-4.1217-1.7584-6.1285    c0.7385-0.0104,1.4746-0.0201,2.2113-0.0311c0.0513,0.9143,0.1917,2.1191,0.5823,3.6987l2.334-0.5762    c-0.3375-1.3617-0.4626-2.3944-0.5127-3.1616c2.5476-0.0409,5.0684-0.0854,7.5677-0.1343    c-0.0452,1.9397-0.3571,5.0092-1.5277,6.5479l1.9043,1.4551c1.7004-2.2278,2.002-6.051,2.0386-8.0518    c20.3235-0.4266,38.2971-1.1713,46.2524-2.5537c3.9941-0.6982,7.29-1.333,10.1758-1.8896    c13.8867-2.6709,18.0859-3.4912,45.9717-0.1367c33.96,4.0723,91.8408,8.1494,111.084,7.1436    c17.085-1.0199,92.7472,17.7496,104.1791,20.6134c0.8789,0.2203,1.4813,0.3717,1.5436,0.3876l0.9766-3.877    C411.1871,29.5889,326.983,8.2266,307.8473,9.3741z M164.356,73.8272c-0.0098,0-0.0195,0-0.0293,0    c-0.7666,0-4.0137-0.7129-9.5117-2.2754c0.5859-1.4111,1.0742-2.5098,1.416-3.2324c0.7031,0.1172,1.6602,0.293,2.7344,0.4883    c4.292,0.7764,6.9971,1.2109,8.7305,1.2646C166.3238,72.0352,164.9127,73.6368,164.356,73.8272z M7.4078,11.5421    c-0.3125-0.0635-1.2256-0.2344-1.3965-1.8799c4.9316-0.3857,11.748-0.4688,15.1562-0.1514    C16.8365,11.1466,9.5416,11.9083,Line truncated

1-background/introduction/figures/icons/noun-grab-4230437.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" x="0px" y="0px" viewBox="0 0 350.4808 374.82300000000004" enable-background="new 0 0 350.4808 299.8584" xml:space="preserve"><g><path d="M285.139,126.8994c-2.2021,0.9912-5.7861,2.4121-10.2734,4.1943c-20.423,8.1049-54.7736,21.7719-71.0803,36.9873   c-0.4431-1.7053-1.2067-3.9075-2.5134-4.9268l-1.4746,1.8945c0.8765,0.6818,1.6412,3.1897,1.9855,5.0122   c-0.6586,0.6891-1.3031,1.3788-1.8811,2.0728c-0.9625-2.4213-2.8455-6.0321-6.1053-8.1641l-1.3086,2.0117   c3.4723,2.2687,5.1605,6.7853,5.6964,8.4882c-1.2726,1.8542-2.3297,3.7183-2.9083,5.5939   c-6.0498,19.6143-24.7803,42.8418-31.8359,51.5869c-0.8936,1.1084-1.5967,1.9824-2.0557,2.5781   c-1.1768,1.5234-3.8916,3.2031-7.0312,5.1514c-6.5625,4.0674-15.5518,9.6436-21.1426,20.0098   c-7.7051,14.2725-30.8936,31.5967-37.1777,34.7412c-3.6426,1.8115-8.335,2.251-11.709,1.0742   c-2.1289-0.7422-3.6426-2.0508-4.4922-3.8818c-2.6562-5.7178-2.3975-10.5127,0.9521-17.6953   c2.6416-5.6494,22.2314-27.0996,29.624-34.9609c1.4893-1.748,14.4971-17.3535,11.8945-26.7236   c-2.8613-10.2881-26.6455-17.0361-36.3428-17.2559c-0.083-0.0049-0.1709-0.0049-0.2588-0.0049   c-8.9709,0-41.2061,9.5795-47.8302,14.6368c-4.903-2.9669-7.4054-6.5527-7.4286-6.59l-2.002,1.3184   c0.1099,0.1697,2.746,3.9484,7.9663,7.1722c-1.2036,3.0444-5.0592,11.4551-8.2916,16.6241l-0.1678,0.0269   c0.0067,0.0409,0.0238,0.1355,0.0311,0.1801c-0.379,0.5975-0.7568,1.189-1.1102,1.6754c-0.2063,0.2838-0.3198,0.5322-0.498,0.8051   c-6.1237-1.0797-8.9288-3.1519-8.9551-3.1781l-0.7764,0.918l-0.7812,0.9131c0.1263,0.1099,3.0402,2.298,9.2755,3.5431   c-0.9424,2.077-1.2622,3.9838-1.5802,6.1981c-0.3223,2.251-0.7227,5.0537-1.9971,9.082   c-2.8271,8.8965-12.4219,11.7725-14.8096,11.2305c-0.1447-0.1306-0.2722-0.506-0.4077-0.7697   c0.4626-0.5341,0.9131-1.0669,1.2524-1.496c0.495-0.6293,1.236-1.7804-3.4399-12.2382c-0.3156-5.1556-0.354-10.4388-0.0024-13.6115   c0.6641-5.9863,9.1455-27.085,13.6279-34.8779c3.1104-5.4053,31.3916-20.8008,49.6436-29.834l-1.7773-3.584   c-0.5499,0.2722-1.64,0.8148-3.067,1.5338c1.0675-2.688,2.0618-5.072,2.8815-6.7633c3.1689-6.5137,18.5303-10.7471,24.3018-11.8555   c0.3174-0.083,32.2852-8.1982,48.4082-12.9443c16.3574-4.8096,27.5586-11.8945,28.1201-12.2607   c10.835-7.7979,17.3828-15.3564,21.2939-19.8682l1.2939-1.4844c3.0322-3.4375,12.2998-9.4189,25.415-11.8018   c12.5677-2.2821,116.6724-71.1005,133.9288-82.55c1.1676-0.7745,1.9452-1.2915,2.2626-1.5027L348.264,0   c-33.916,22.5635-124.2236,81.543-134.6875,83.4473c-13.2227,2.4023-23.6279,8.4717-27.7002,13.0908l-1.3184,1.5088   c-3.7988,4.3848-10.1514,11.7188-20.5127,19.1846c-0.1123,0.0684-11.2256,7.0898-27.0117,11.7285   c-16.0449,4.7266-47.9395,12.8223-48.1445,12.8809c-2.2803,0.4346-22.417,4.5264-27.0264,14.0088   c-1.2793,2.6306-2.8485,6.4319-4.6497,11.2482c-13.808,7.121-39.2859,20.8673-42.9041,27.1552   c-4.3701,7.5977-13.3447,29.2822-14.1357,36.4307c-0.0171,0.1489-0.4028,7.5781,0.0354,15.2808   c-0.2295,3.5388,0.05,8.6658,1.7224,13.2593c0.119,0.3308,0.4773,0.4211,0.733,0.639c0.7379,1.665,1.6577,2.8351,2.8412,3.1305   c4.8779,1.2158,16.4941-3.1738,19.8584-13.7744c1.3818-4.3457,1.8066-7.3291,2.1484-9.7266   c0.3333-2.3187,0.5878-3.9343,1.5613-5.7605c1.4911,6.8652,4.361,17.0331,8.7122,19.4958c1.6699,0.9375,4.6191,3.1348,7.749,5.4639   c1.4703,1.0938,2.6782,1.9604,3.96,2.8918c2.4896,2.5311,6.701,5.8661,11.5137,7.6746c0.2295,0.0879,0.4688,0.127,0.708,0.127   c0.2802,0,0.5219-0.1495,0.7733-0.2643c0.39,0.0781,0.86,0.2838,1.2042,0.2838c0.5664,0,1.0742-0.1025,1.5283-0.3174   c4.3506-2.0288,6.9482-5.0366,8.064-8.8422c2.5507,3.0164,6.0162,5.5823,6.5942,6.0004c0.21,0.1514,0.4541,0.2295,0.7031,0.2295   c0.0739,0,0.1471-0.0269,0.2209-0.0409c-1.7218,2.276-3.0383,4.2096-3.6438,5.5048c-3.2324,6.9238-4.6338,13.1543-0.957,21.0693   c1.3037,2.8076,3.6572,4.8779,6.8018,5.9717c1.6895,0.5908,3.5889,0.8789,5.5566,0.8789c3.1299,0,6.4209-0.7324,9.2578-2.1533   c6.7773-3.3887,30.6836-21.1719,38.9062-36.416c5.0879-9.4287,13.5547-14.6777,19.7363-18.5107   c3.6133-2.2412,6.4697-4.0088,8.0859-6.1084c0.4492-0.5811,1.1328-1.4258,2.0068-2.5098   c7.1826-8.9062,26.2646-32.5684,32.5391-52.915c5.5469-17.9785,53.9746-37.1973,77.2461-46.4355   c4.5605-1.8115,8.1982-3.252,10.4395-4.2578c13.584-6.0889,62.1631-19.624,62.6514-19.7559l-0.7581-2.7222l-0.3162-1.1353   C346.3499,107.5,299.0013,120.6885,285.139,126.8994z M53.4349,214.7803c2.9333-1.6449,8.5248-5.5408,12.1741-11.8951   c3.783-1.1182,7.5-2.1112,10.8392-2.8552c-3.009,5.3741-8.0017,11.0541-8.0621,11.1224c-0.1355,0.152-0.152,0.3534-0.2338,0.5316   c-5.4016-0.238-6.7053-1.1865-6.7194-1.2006l-0.8887,0.8008l-1.001,0.6641c0.3851,0.5798,2.1014,1.911,8.8678,2.157   c2.049,4.4305,1.0565,13.4235,0.4584,16.676c-0.0208,0.1123,0.0745,0.2106,0.0739,0.3241   c-2.7374,1.7255-5.4083,2.3474-5.4352,2.3517l0.4883,2.3535c0.1337-0.0275,3.222-0.7312,6.4056-2.7808   c0.0574,0.0146,0.0885,0.0812,0.1471,0.0903c0.0635,0.0098,6.5576,1.1377,13.9844,11.4014   c4.3604,6.0254,3.8623,11.9824-Line truncated

1-background/introduction/figures/icons/noun-hololens-1499195.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 100 125" version="1.1" x="0px" y="0px"><title>Microsoft Hololens</title><desc>Created with Sketch.</desc><g stroke="none" stroke-width="1" fill="none" fill-rule="evenodd"><g fill="#000000" fill-rule="nonzero"><path d="M91.2094209,45.4457873 C90.8170204,45.1120121 90.2103731,44.7025808 89.4291377,44.2542185 C87.5894394,43.1983888 84.9905067,42.0374497 81.8519458,40.9171076 C73.7740942,38.0336342 63.3053037,35.7801499 51.0043096,34.6385434 L51.1891275,32.6471011 C63.6528854,33.8038131 74.2853399,36.0925273 82.5243138,39.033515 C89.1167616,41.386758 93.5,43.9023624 93.5,45.5297852 L93.5,53.4418945 L91.5,53.4418945 L91.5,45.7237234 C91.4359994,45.6502579 91.3382129,45.5553376 91.2094209,45.4457873 Z"/><path d="M7.19370574,40.6260851 C6.73315453,45.1286663 6.99924907,49.6746336 8.60153807,54.7667341 C9.81653957,58.6280287 11.3340705,61.8652178 12.8913646,64.0892197 C14.1650648,65.9082156 15.3207988,66.79729 15.7786937,66.7095219 C15.9480649,66.6770573 16.1254458,66.6456993 16.3300682,66.6115758 C16.4748904,66.5874247 16.6114147,66.5654052 16.8841014,66.5217458 C17.8857244,66.3606948 18.3426095,66.2581458 18.6569425,66.10751 C18.8266809,66.0261674 18.7953102,66.0784624 18.7742682,65.9807743 C18.352109,63.809612 18.5996278,62.4984108 20.1080189,62.5245487 C20.8455431,62.5373288 21.3634004,62.8836837 22.6561353,63.9477218 C23.5729104,64.7032397 24.0418001,65.0288012 24.0440925,65.0288012 C26.1808753,65.0288012 31.4601696,64.391176 36.690431,63.2808258 C36.8650129,63.2437633 37.9605698,63.0117137 38.2736798,62.9451299 C38.8706871,62.8181744 39.3498891,62.7151992 39.8024263,62.6162729 C45.7867147,61.3080853 48.472007,60.2611521 48.9824705,58.9191314 C49.1304632,58.5300548 49.6503751,57.1974937 49.6981423,57.0736954 C50.7054003,54.4631851 51.2368582,52.6653107 51.5522109,50.4038614 C52.1428361,46.1683844 52.2453563,42.0466593 51.9016132,38.8478332 C51.7466243,37.4055276 51.5059643,36.2246398 51.2117663,35.4178192 C51.0817208,35.0611769 50.9479629,34.7976862 50.8275347,34.6405343 C38.6606396,33.466783 27.6338582,33.9884852 18.5295683,35.6968587 C15.0493894,36.3498965 12.0562097,37.1478831 9.85017836,37.9606324 C8.92319111,38.3021545 8.18364805,38.6301933 7.69215971,38.9092229 C7.55456432,38.9873391 7.4433364,39.0578834 7.36194863,39.1164374 C7.3131135,39.5732011 7.22054624,40.3636788 7.19370574,40.6260851 Z M50.8415002,34.5888695 C50.8606149,34.5909448 50.8868517,34.5948366 50.921449,34.5997176 C50.9019159,34.5979048 50.8823859,34.5960963 50.8628588,34.5942919 L50.8415002,34.5888695 Z M20.7329173,65.5768205 C20.9636992,66.6349763 20.4712858,67.4558304 19.5212662,67.9111022 C18.9655166,68.1774304 18.4105115,68.3020027 17.2016035,68.4963831 C16.9282771,68.5401507 16.7977294,68.5612063 16.6590521,68.5843327 C16.4691345,68.616004 16.3069833,68.6446695 16.1551944,68.673764 C13.2430813,69.2319502 9.27201731,63.5607968 6.69375592,55.3670401 C4.99948323,49.9826139 4.71803942,45.1744194 5.20408679,40.4225748 C5.24464723,40.0260354 5.3869054,38.8245021 5.39569422,38.6840996 C5.49671943,37.0702089 10.822125,35.1082151 18.1607161,33.7311659 C27.4616351,31.985896 38.6954807,31.4564795 51.166785,32.615759 C53.9104275,33.0403303 54.8167477,41.4744214 53.5330444,50.680083 C53.1926475,53.1211291 52.6217216,55.0525202 51.5640624,57.7936553 C51.5135577,57.9245485 50.9961674,59.2506466 50.8518083,59.6301701 C49.9711372,61.9454755 47.0803772,63.0725158 40.2295473,64.5701326 C39.7727564,64.6699888 39.290091,64.7737082 38.689684,64.9013867 C38.3756096,64.9681756 37.2795859,65.200324 37.1057618,65.2372257 C31.7474029,66.3747701 26.3322739,67.0288012 24.0440925,67.0288012 C23.3091954,67.0288012 22.933408,66.7678829 21.4535272,65.5482574 C21.0828047,65.243078 20.8267127,65.0430229 20.6230764,64.8908387 C20.6463065,65.0872754 20.6824451,65.3167321 20.7329173,65.5768205 Z"/><path d="M6.99804653,43.0648426 L5.00195347,42.9398926 C5.10535373,41.2880601 10.6640765,39.2401072 18.2989592,37.8074605 C28.0098311,35.985265 39.7395734,35.4324784 52.6986682,36.6351606 L52.5138503,38.6266028 C39.7400293,37.4411152 28.1966237,37.9851203 18.6678114,39.7731533 C15.0303903,40.4556968 11.9015965,41.2898383 9.5949033,42.1396736 C8.62455437,42.497171 7.84997399,42.8407513 7.33423844,43.1335466 C7.11966735,43.2553638 6.96513256,43.3601941 6.88203197,43.4336475 C6.92275062,43.3976559 6.98264427,43.3108956 6.99804653,43.0648426 Z"/><path d="M90.855371,54.6059511 C91.2999258,54.2782477 91.9259647,54.3729744 92.2536681,54.8175292 C92.5813715,55.262084 92.4866447,55.8881229 92.0420899,56.2158263 C88.8189521,58.5917612 80.740356,60.1452739 67.6078756,61.0059161 C62.4563837,61.3435211 55.2821774,61.4769367 49.3756281,61.3356822 C48.8235012,61.3224782 48.3866179,60.8641869 48.399822,60.31206 C48.413026,59.7599331 48.8713173,59.3230498 49.4234442,59.3362539 C55.2718071,59.4761168 62.3865568,59.3438069 67.4770854,59.0101972 C80.2033289,58.1761779 88.0622328,56.664912 90.855371,54Line truncated

1-background/introduction/figures/icons/noun-pressing-button-4230381.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" x="0px" y="0px" viewBox="0 0 296.4863 444.45124999999996" enable-background="new 0 0 296.4863 355.561" xml:space="preserve"><g><path d="M164.6396,162.4854c-2.1006-5.7246-16.6055-15.606-20.5664-17.3281c-3.835-1.6675-23.8994-13.0215-38.2246-26.6958   c-18.9141-18.0542-42.751-45.0059-47.6846-61.5469c-0.1128-0.3782-0.2146-0.7346-0.3226-1.1035l0.0912,0.0073   c0.209-2.5967,0.3145-5.2583,0.3145-7.9102C58.2471,21.0439,47.8301,0,34.5322,0H23.7158C10.417,0,0,21.0439,0,47.9082   c0,26.8647,10.417,47.9087,23.7158,47.9087h10.8164c2.1506,0,4.2546-0.5522,6.281-1.6371   c4.5118,10.1004,9.4578,20.3365,12.6018,25.1679c4.1719,6.4102,10.5244,13.7178,15.6289,19.5898   c3.21,3.6924,5.9824,6.8818,7.1729,8.6675c2.5647,3.847,8.7242,15.0783,11.4988,25.1203   c-2.2438,1.8812-22.0647,18.4791-27.1433,21.9324c-3.8574,2.623-9.1172,6.8477-10.2607,13.2197   c-0.6826,3.8053,0.23,7.8221,2.6908,11.9646c-0.8184,0.3608-1.5343,0.7992-2.0941,1.3293   c-3.1396,2.9746-4.8896,12.2236-5.4287,15.5312c-1.8213,1.5391-5.8672,6.2002-7.3984,18.0312   c-1.9717,15.2246,11.5986,22.9443,21.5068,28.5801l0.2939,0.168c6.1221,3.4834,17.1045,11.2988,26.7939,18.1934   c5.085,3.6191,9.8887,7.0371,13.0498,9.1445c9.29,6.1934,64.4277,22.5029,73.4336,19.3818   c7.3438-2.5488,21.708-1.7939,31.3711,1.6455c9.2607,3.2959,31.8047,23.5098,32.0312,23.7139l2.6738-2.9746   c-0.1005-0.0903-0.4536-0.4067-0.9946-0.8856c-4.5715-4.0463-23.426-20.4392-32.3687-23.6212   c-10.5596-3.7588-25.8232-4.502-34.0234-1.6572c-7.0195,2.4326-61.001-12.9941-69.9043-18.9307   c-3.1104-2.0732-7.8896-5.4746-12.9492-9.0752c-9.7666-6.9502-20.8369-14.8281-27.1348-18.4111l-0.2949-0.168   c-9.4199-5.3584-21.1436-12.0273-19.5176-24.5898c1.3682-10.5746,4.8485-14.4402,5.9395-15.4169l5.0967-3.6456   c1.2666-0.9053,2.0791-2.3145,2.2285-3.8652l0.894-9.3026c0.9307-0.1855,2.051-0.2844,3.3491-0.2218   c3.3506,0.1562,6.3877,1.2549,7.7373,2.7959c1.4707,1.6826,3.5566,4.6553,5.5742,7.5303c3.793,5.4072,5.3438,7.5098,6.5967,8.1357   c0.7194,0.3597,2.3785,1.1299,4.0544,1.8993c-3.626,1.1192-6.0479,1.5983-6.1218,1.6124l0.7471,3.9297   c1.001-0.1895,24.6543-4.833,37.085-20.54l-3.1367-2.4824c-2.3167,2.9273-5.103,5.442-8.0723,7.6022   c1.2227-7.2569,3.4941-21.1362,3.4941-24.0856l-0.002-1.3154c-0.0322-16.6963,0.2686-21.2822,0.5264-22.1895   c-0.0156,0.0527-0.0361,0.0957-0.0518,0.1299l-3.625-1.6914c-0.4697,1.0068-0.8877,3.5811-0.8496,23.7588l0.002,1.3076   c0,0.5449-0.104,1.6128-0.2804,3.0309l-5.5956,0.846c-1.7568,0.2656-3.3623,1.0576-4.6426,2.292l-2.1595,2.0826   c-9.3801-6.7913-19.6993-11.6269-20.3698-11.9381l-1.6836,3.6289c0.2422,0.1124,23.9509,11.2214,31.4039,22.8115   c-0.2758,1.6467-0.5264,3.1213-0.7312,4.3131c-3.5719,2.0952-7.2015,3.7396-10.4611,4.9979   c-1.8093-0.821-6.2898-2.8604-7.6648-3.5405c-0.8096-0.6523-3.3359-4.2529-5.1875-6.8926   c-2.0781-2.9609-4.2266-6.0234-5.8389-7.8672c-2.0928-2.3916-6.041-3.9463-10.5596-4.1582   c-0.9177-0.043-1.7976-0.0226-2.634,0.0511c-2.446-3.686-3.4211-7.1379-2.8601-10.266c0.877-4.8887,5.3125-8.4014,8.5732-10.6191   c4.6549-3.1655,20.478-16.3327,25.884-20.8529c0.2043,1.2071,0.3405,2.376,0.3875,3.4857l3.9961-0.1689   c-0.5469-12.9238-10.9893-31.2095-13.5449-35.043c-1.333-1.9985-4.0469-5.1206-7.4824-9.0732   c-3.6621-4.2124-7.9686-9.1739-11.5957-13.9478c0.8311-2.3975,2.7914-6.3994,7.1357-9.0263l-1.2422-2.0537   c-4.1675,2.5201-6.4086,6.0698-7.5891,8.7845c-0.7075-0.9843-1.3883-1.9583-2.0037-2.9037   c-4.3315-6.6565-12.3599-24.2773-17.5652-36.7283c0.6121-1.0252,2.5491-3.8925,5.8074-5.3411l-0.9746-2.1934   c-2.8276,1.2572-4.7808,3.3369-5.9329,4.8752c-2.162-5.2764-3.6454-9.2467-3.825-10.3698   c-2.3564-14.7139-2.4287-26.1079-0.1934-30.48c2.1543-4.2152,5.2825-5.9698,8.0032-6.3841   c-0.5532,1.2192-1.2218,3.4034-0.6047,6.0735c0.8643,3.7495,7.2627,15.3008,10.7754,16.9951   c0.2734,0.1318,0.5508,0.1968,0.8174,0.1968c0.011,0,0.0212-0.0029,0.0322-0.0031c0.3762,1.3523,0.7778,2.7588,1.2227,4.2512   c6.792,22.7695,44.4814,59.2158,48.7568,63.2969c14.7051,14.0371,35.4238,25.7451,39.3906,27.4702   c3.8389,1.6694,16.9326,11.0195,18.4062,15.0376c1.9482,5.3135,8.6367,13.834,23.8545,30.3896   c18.0371,19.6221,70.8994,72.8711,72.6729,74.6572c1.1343,1.2808,17.1902,19.256,34.5764,30.3586   c0.8152,0.5206,1.6323,1.0314,2.4519,1.5193l2.0469-3.4375c-18.0039-10.7158-35.9365-30.9287-36.1152-31.1318   c-0.0264-0.0293-0.0537-0.0586-0.0811-0.0859c-0.542-0.5459-54.4062-54.7861-72.6064-74.5869   C173.0449,175.6196,166.3682,167.2007,164.6396,162.4854z M94.0588,219.8933l1.7126-1.6516   c0.6797-0.6553,1.5312-1.0762,2.4639-1.2168l4.4309-0.6699c-0.4482,3.0704-1.0209,6.7001-1.5835,10.1599   C99.0936,224.2097,96.6702,221.9822,94.0588,219.8933z M43.8203,36.0786c-0.6094-2.6396,0.4482-4.6245,0.7393-5.1035   c0.5713-0.48,1.1543-0.6553,1.7676-0.5293c0.917,0.1841,1.7471,1.001,2.0615,1.6763c0.7842,1.6792,4.1729,14.8765,4.1387,18.7783   C49.666,48.3457,44.541,39.2021,43.8203,36.0786z M24.8914,4c-8.3619,7.3306-14.075,24.0189-14.075,43.9082Line truncated

1-background/introduction/figures/icons/noun-pressing-button-4230382.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" x="0px" y="0px" viewBox="0 0 350.7959 351.601" enable-background="new 0 0 350.7959 281.2808" xml:space="preserve"><g><path d="M346.201,45.7193c-2.4279,3.6141-4.0099,6.4772-4.7997,8.6982c-3.7598,10.5591-4.5029,25.8223-1.6572,34.0234   c2.4346,7.0195-12.9951,61.0024-18.9307,69.9053c-2.0723,3.1079-5.4697,7.8823-9.0674,12.937   c-6.9531,9.771-14.835,20.8457-18.4199,27.146l-0.165,0.291c-5.3594,9.4229-12.0244,21.1465-24.5918,19.5225   c-10.575-1.3681-14.4408-4.8482-15.4177-5.9393l-3.6458-5.0978c-0.9053-1.2656-2.3135-2.0781-3.8643-2.2275l-9.3004-0.8937   c-0.1859-0.9316-0.2855-2.0521-0.225-3.3475c0.1572-3.3516,1.2549-6.3896,2.7979-7.7397c1.6816-1.4712,4.6543-3.5571,7.5303-5.5747   c5.4062-3.793,7.5088-5.3442,8.1338-6.5947c0.3601-0.72,1.1306-2.3799,1.9001-4.0563c1.1193,3.6262,1.5984,6.0482,1.6125,6.1223   l3.9297-0.7471c-0.1895-1.001-4.833-24.6553-20.54-37.085l-2.4824,3.1367c2.9275,2.3168,5.4424,5.1033,7.6025,8.0726   c-7.257-1.2225-21.1375-3.494-24.0869-3.494l-1.3105,0.002c-16.6768,0.0293-21.2852-0.2686-22.1934-0.5264   c0.0527,0.0151,0.0957,0.0352,0.1299,0.0513l-1.6914,3.625c1.0068,0.4692,3.5957,0.8828,23.7627,0.8501l1.3027-0.002   c0.5449,0,1.6128,0.1041,3.031,0.2804l0.8459,5.5951c0.2656,1.7573,1.0586,3.3628,2.293,4.6426l2.0823,2.1599   c-6.7908,9.3802-11.6265,19.6993-11.9377,20.3699l3.6289,1.6836c0.1124-0.2427,11.2213-23.9513,22.8114-31.4044   c1.6469,0.2758,3.1216,0.5263,4.3134,0.7311c2.0952,3.5717,3.7396,7.2014,4.9978,10.4609   c-0.8209,1.8092-2.8599,6.2886-3.5415,7.6655c-0.6523,0.8096-4.252,3.335-6.8916,5.1865   c-2.9609,2.0781-6.0244,4.2266-7.8672,5.8394c-2.3926,2.0938-3.9473,6.0425-4.1582,10.562   c-0.043,0.9172-0.0226,1.7966,0.051,2.6323c-3.6858,2.4465-7.137,3.4263-10.2659,2.8599   c-4.8887-0.877-8.4014-5.3125-10.6182-8.5732c-3.1663-4.6552-16.3335-20.4778-20.8542-25.8844   c1.2068-0.2043,2.3755-0.3402,3.4851-0.3871l-0.168-3.9961c-12.9258,0.5454-31.2109,10.9893-35.0439,13.5449   c-1.998,1.332-5.1191,4.0454-9.0703,7.4805c-4.2134,3.6627-9.1758,7.9704-13.9504,11.5977   c-2.3977-0.8311-6.3993-2.7915-9.0251-7.1358l-2.0547,1.2412c2.52,4.1679,6.0695,6.4092,8.7842,7.5899   c-0.9841,0.7072-1.958,1.3878-2.9033,2.0029c-6.6543,4.3311-24.2764,12.3599-36.7279,17.5656   c-1.0248-0.6116-3.8931-2.5482-5.3414-5.8078l-2.1934,0.9746c1.257,2.8283,3.3369,4.7814,4.8755,5.9333   c-5.2764,2.162-9.2466,3.6456-10.3696,3.8254c-14.7178,2.3525-26.1123,2.4268-30.4805,0.1934   c-4.2188-2.1559-5.9724-5.286-6.385-8.0081c0.8733,0.3975,2.2346,0.8557,3.9319,0.8557c0.668,0,1.3867-0.0713,2.1426-0.2461   c3.751-0.8652,15.3018-7.2656,16.9951-10.7764c0.137-0.2838,0.1829-0.5687,0.1777-0.8448   c1.3569-0.3776,2.7686-0.7807,4.2666-1.2275c22.7695-6.791,59.2168-44.4805,63.2969-48.7559   c14.0391-14.7065,25.7461-35.4238,27.4707-39.3911c1.6689-3.8389,11.0195-16.9326,15.0381-18.4058   c5.3125-1.9478,13.833-8.6362,30.3896-23.8545c18.3218-16.8417,65.9579-64.0438,73.6453-71.6703   c0.6444-0.6392,1.0098-1.0021,1.052-1.044L279.4531,0c-0.5459,0.542-54.7852,54.4062-74.5859,72.6069   c-15.9268,14.6396-24.3457,21.3159-29.0596,23.0439c-5.7256,2.0996-15.6064,16.605-17.3291,20.5669   c-1.667,3.834-13.0205,23.8979-26.6953,38.2241c-18.0547,18.9141-45.0068,42.751-61.5469,47.6836   c-0.3779,0.1127-0.7341,0.2145-1.103,0.3225l0.0073-0.0901c-2.5938-0.209-5.2549-0.3154-7.9111-0.3154   c-26.7526,0-47.7261,10.3317-47.9001,23.5511C4.7321,231.6139,0,239.1905,0,247.0239c0,9.3828,6.5312,18.1064,18.3916,24.5654   c11.4756,6.25,26.6885,9.6914,42.8379,9.6914s31.3633-3.4414,42.8379-9.6914c11.8604-6.459,18.3916-15.1826,18.3916-24.5654   c0-7.8457-4.7246-15.4085-13.3286-21.4335c-0.0278-2.092-0.5731-4.1395-1.6294-6.1133   c10.1011-4.5121,20.3378-9.4582,25.168-12.6016c6.4111-4.1719,13.7197-10.5254,19.5918-15.6304   c3.6914-3.2095,6.8799-5.981,8.665-7.1714c3.8469-2.5646,15.0781-8.7248,25.1201-11.4991   c1.8804,2.2417,18.48,22.0643,21.9336,27.1437c2.623,3.8574,6.8477,9.1172,13.2197,10.2607   c0.8223,0.1475,1.6533,0.2207,2.4932,0.2207c3.0519,0,6.2222-0.9854,9.4697-2.9142c0.3611,0.8196,0.8,1.5364,1.3311,2.0969   c2.9746,3.1396,12.2227,4.8896,15.5303,5.4287c1.5391,1.8213,6.2002,5.8672,18.0322,7.3984   c1.0068,0.1299,1.9795,0.1924,2.9219,0.1924c13.3154,0,20.3965-12.4492,25.6602-21.7041l0.165-0.29   c3.4844-6.1245,11.3037-17.1118,18.2021-26.8052c3.6162-5.0806,7.0312-9.8789,9.1367-13.0376   c6.1934-9.2896,22.5078-64.4224,19.3818-73.4351c-2.5479-7.3423-1.7939-21.7085,1.6455-31.3711   c0.793-2.2271,2.6865-5.4795,5.627-9.667l-3.2734-2.2988C347.0538,44.4603,346.6188,45.0975,346.201,45.7193z M233.2141,166.2318   l-1.6516-1.7132c-0.6553-0.6797-1.0762-1.5317-1.2168-2.4639l-0.6699-4.4305c3.0703,0.4482,6.7001,1.0206,10.1598,1.5831   C237.5305,161.1967,235.303,163.6202,233.2141,166.2318z M245.4111,207.3667c0.8604,0.083,1.6406,0.5332,2.1426,1.2354   l1.3972,1.9537c-4.5754-0.8735-10.1091-2.3998-11.5535-3.9254c-0.0095-0.01-0.0186-0.026-0.0281-0.0364L245.4111,207.3667z    M48.4297,229.769c2.9844,1.5254,7.6582,2.06Line truncated

1-background/introduction/figures/icons/noun-turning-knob-4230379.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" x="0px" y="0px" viewBox="0 0 272.9233 428.531375" enable-background="new 0 0 272.9233 342.8251" xml:space="preserve"><g><path d="M113.7651,242.661c-5.7119-1.999-38.0806-26.0371-43.6519-33.0732c-1.9023-2.4033-5.7793-8.4434-10.2686-15.4375   c-13.6533-21.2715-20.3228-30.9648-23.752-32.1748c-2.6525-0.9363-8.9116-7.3573-13.8712-16.1653   c3.1959-1.3253,10.5658-4.6667,14.3815-8.7253l-1.749-1.6445c-3.5557,3.7827-10.8817,7.0471-13.7795,8.2429   c-2.0376-3.9536-3.7625-8.3046-4.7781-12.8083c-0.1618-0.7176-0.3398-1.5065-0.5297-2.3459   c2.7067-1.5876,10.9575-6.2701,15.5688-7.1443l-0.4473-2.3584c-4.6857,0.8889-12.3727,5.1312-15.6794,7.0472   c-0.3365-1.4748-0.7025-3.0645-1.0912-4.7301c2.963-1.8103,10.9854-6.3217,19.071-7.4768l-0.3398-2.376   c-8.0441,1.1492-15.7881,5.2891-19.3101,7.3906c-0.5405-2.2819-1.1144-4.6577-1.7091-7.0405l10.5021-2.2538   c0.1128-0.0244,0.2222-0.0649,0.3232-0.1201l6.1499-3.3604c2.5972-1.4189,3.7749-4.4761,2.8018-7.2695   c-3.6694-10.5229-5.792-16.3535-6.3086-17.3291c-0.2915-0.5503-0.8335-0.9404-1.6567-1.1924   c-2.876-0.8794-10.2305-0.04-13.1157,1.498c-2.066,1.1021-4.8494,3.2311-6.5276,4.5711c-0.0321-0.9804,0.1841-1.9719,0.657-2.9676   c1.5894-3.3491,5.7197-6.0356,10.7788-7.0112c13.4043-2.584,37.9653,17.4419,44.4253,50.4067   c0.0845,0.4312,0.3091,0.8223,0.6382,1.1133c0.1147,0.1021,11.5855,10.3008,18.7251,21.083   c0.5273,0.7959,1.5415,1.1084,2.4277,0.7451c11.5732-4.7549,31.5991-12.1074,36.0459-11.6045   c7.2158,0.8125,21.4487-13.1294,24.2275-15.9341l-2.8418-2.8154c-0.829,0.8365-1.735,1.7151-2.6878,2.6081   c-0.4327-7.4175-0.9529-23.1063,1.7679-30.4089c0.1523-0.4087,0.167-0.8564,0.0415-1.2739   c-2.5028-8.3235-8.8052-31.0345-8.3723-37.4929c2.3726-1.0951,6.7603-3.537,8.3601-7.2161l-2.2012-0.957   c-1.2698,2.9203-5.0513,5.0095-7.1299,5.9741c-0.0934-0.0542-0.1918-0.1019-0.2954-0.1411   c-0.1758-0.0664-17.6299-6.7954-22.8457-19.3682c-0.1434-0.3466-0.3837-0.6286-0.6723-0.8418   c0.0531-3.7487,0.7135-10.0352,0.7211-10.1079l-2.3867-0.2529c-0.0309,0.2939-0.6418,6.1147-0.7264,9.9997l-14.1896,0.3709   l0.0092,0.3528c-5.6869-7.4225-13.1738-11.9446-21.371-11.9446h-5.5881c-0.5548-2.5552-0.9103-6.0363-0.9148-6.0781   c-0.0029-0.0337-0.0093-0.0791-0.0142-0.1123c-0.0288-0.187-0.6543-4.5918,2.9883-6.0625   c2.5342-1.0229,8.5366-0.8848,14.3438-0.7529c4.9141,0.1133,9.9932,0.2295,13.7056-0.3276   c0.9111-0.1367,1.8032-0.2798,2.6782-0.4204c6.6602-1.0693,11.9214-1.9136,17.2573,1.3525   c6.4146,3.9253,32.1738,16.4546,35.269,16.9312c5.5532,0.8545,12.2735,3.2153,12.7554,9.6128   c0.3701,4.9175,3.272,14.1343,6.9453,25.8032c3.5024,11.124,7.8608,24.9678,11.0913,38.6846l3.8936-0.917   c-1.9869-8.4368-4.3884-16.8928-6.7579-24.7445c2.7964,4.0743,6.1546,8.8574,9.7487,13.743   c8.8975,12.0952,11.6362,21.3608,9.1577,30.9824c-2.1323,8.2798-5.2935,44.6348-7.1821,66.3564   c-0.4111,4.7236-0.7539,8.667-1.001,11.334c-1.0698,11.5254,7.2993,23.04,19.4673,26.7842   c11.248,3.4619,25.2051,21.459,29.6338,28.1016c3.2513,4.8767,19.3074,17.6899,33.2409,28.3368   c0.9047,0.6913,1.8007,1.3738,2.6834,2.0441l2.4189-3.1855c-19.8277-15.0557-32.5899-25.7764-35.0152-29.4141   c-0.167-0.251-16.8848-25.1201-31.7852-29.7051c-10.397-3.1992-17.5596-12.9121-16.6616-22.5928   c0.248-2.6719,0.5918-6.623,1.0034-11.3574c1.7549-20.1807,5.021-57.7456,7.0713-65.7041   c2.8101-10.9106-0.124-21.1836-9.8101-34.3506c-8.506-11.563-15.6774-22.5419-17.1216-24.7704   c-0.0865-0.2747-0.1747-0.5552-0.2602-0.8267c-3.4536-10.9707-6.4365-20.4453-6.7725-24.9019   c-0.3066-4.0752-2.8105-11.2168-16.1235-13.2642c-2.5508-0.5117-26.875-12.1533-33.8013-16.3921   c-6.5977-4.0381-13.0977-2.9937-19.979-1.8901c-0.8618,0.1387-1.7407,0.2798-2.6382,0.4141   c-3.3716,0.5054-8.2783,0.3931-13.02,0.2847c-6.4985-0.1479-12.6348-0.2896-15.9336,1.043   c-5.2588,2.1235-5.8667,7.6543-5.4497,10.3428c0.0466,0.453,0.3355,3.1493,0.8089,5.6191H42.1138   c-17.7388,0-32.1704,21.145-32.1704,47.1362c0,2.6418,0.1585,5.2825,0.4537,7.873c-4.3409,1.6921-7.708,4.5202-9.356,7.9922   c-1.457,3.0693-1.3823,6.3882,0.21,9.3447c3.3794,6.2754,9.02,31.291,11.1499,40.7388   c3.6445,16.1611,16.0771,31.7441,22.3447,33.9561c2.936,1.2852,14.7026,19.6172,21.7329,30.5693   c4.5464,7.084,8.4731,13.2012,10.499,15.7598c5.9917,7.5684,39.2944,32.2061,45.4082,34.3438   c4.4668,2.1211,51.2715,49.9512,95.6763,96.4111l2.8916-2.7637c-0.7548-0.7898-1.5254-1.5956-2.3029-2.4086   C174.4102,301.8524,119.0041,244.4953,113.7651,242.661z M11.6548,83.931c2.6489-1.4126,10.3047-2.0332,11.564-1.2163   c0.5254,1.1035,2.7944,7.3716,6.1211,16.9121c0.5859,1.6802-0.123,3.5195-1.6855,4.373l-5.9971,3.2769l-10.4158,2.2353   c-2.1946-8.6032-4.5845-16.8627-6.469-20.3622c-0.0394-0.0732-0.0677-0.1473-0.1041-0.2208   C6.0084,87.8338,9.3894,85.139,11.6548,83.931z M14.6758,72.4779c-0.1299,0.025-0.2559,0.0566-0.3846,0.0835   c-0.228-2.217-0.3478-4.4705-0.3478-6.7251c0-23.7856,12.6372-43.1362,28.1704-43.1362h12.042   c-11.3077,7.315-19.2231,23.892-19.2231,43.1362c0,4Line truncated

1-background/introduction/figures/icons/noun-vibration-6478365.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" x="0px" y="0px" viewBox="0 0 492 615" style="enable-background:new 0 0 492 492;" xml:space="preserve"><g><g><path d="M151.4,131.2h189.8c5.6,0,10.7,2.3,14.4,6c3.7,3.7,6,8.8,6,14.4v190.4c0,5.6-2.3,10.7-6,14.4c-3.7,3.7-8.8,6-14.4,6H151.4    c-5.6,0-10.7-2.3-14.4-6c-3.7-3.7-6-8.8-6-14.4V151.5c0-5.6,2.3-10.7,6-14.4C140.7,133.5,145.8,131.2,151.4,131.2L151.4,131.2z     M341.2,146.6H151.4c-1.4,0-2.6,0.6-3.5,1.5c-0.9,0.9-1.5,2.1-1.5,3.5v190.4c0,1.4,0.6,2.6,1.5,3.5c0.9,0.9,2.1,1.5,3.5,1.5h189.8    c1.4,0,2.6-0.6,3.5-1.5c0.9-0.9,1.5-2.1,1.5-3.5V151.5c0-1.4-0.6-2.6-1.5-3.5C343.8,147.1,342.5,146.6,341.2,146.6z"/><path d="M357,220.6h5.4c4.2,0,7.7,3.4,7.7,7.7v36.9c0,4.2-3.4,7.7-7.7,7.7H357c-4.2,0-7.7-3.4-7.7-7.7v-36.9    C349.3,224.1,352.8,220.6,357,220.6z"/><path d="M130.1,220.6h5.4c4.2,0,7.7,3.4,7.7,7.7v36.9c0,4.2-3.4,7.7-7.7,7.7h-5.4c-4.2,0-7.7-3.4-7.7-7.7v-36.9    C122.4,224.1,125.9,220.6,130.1,220.6z"/><path d="M154.3,131.4c-4.1,1-6.6,5.2-5.6,9.3c1,4.1,5.2,6.6,9.3,5.6c20.5-5.1,22.8-22.1,25.1-39.4c2-14.9,4.1-30.2,26.5-29.1l0,0    c0.1,0,0.2,0,0.4,0l0,0h0h36.3h36.3c0.3,0,0.6,0,0.9,0c21.9-0.8,23.9,14.3,25.9,29.2c2.3,17.3,4.6,34.2,25.1,39.4    c4.1,1,8.3-1.5,9.3-5.6c1-4.1-1.5-8.3-5.6-9.3c-10.4-2.6-12-14.5-13.7-26.5c-2.9-21.7-5.9-43.8-41.7-42.4c-0.1,0-0.2,0-0.3,0    h-36.3h-36.3v0c-36-1.5-39,20.6-42,42.4C166.3,117,164.7,128.8,154.3,131.4z"/><path d="M158,347.2c-4.1-1-8.3,1.5-9.3,5.6c-1,4.1,1.5,8.3,5.6,9.3c10.4,2.6,12,14.5,13.7,26.5c2.9,21.8,6,44,42,42.4v0h36.3h36.3    c0.1,0,0.2,0,0.3,0c35.7,1.4,38.7-20.7,41.7-42.4c1.6-12.1,3.2-23.9,13.7-26.5c4.1-1,6.6-5.2,5.6-9.3c-1-4.1-5.2-6.6-9.3-5.6    c-20.5,5.1-22.8,22.1-25.1,39.4c-2,14.8-4.1,29.9-25.9,29.2c-0.3,0-0.6,0-0.9,0h-36.3H210h0l0,0c-0.1,0-0.2,0-0.4,0l0,0    c-22.4,1-24.4-14.2-26.5-29.1C180.8,369.3,178.5,352.3,158,347.2z"/><path d="M98.8,195.8c3.4-2.5,4.2-7.3,1.7-10.7c-2.5-3.4-7.3-4.2-10.7-1.7c-4.1,2.9-7.7,6.6-10.8,10.9    c-10.1,14-15.2,34.6-15.2,55.1s5.1,41,15.2,55.1c3.1,4.3,6.7,8,10.8,10.9c3.4,2.5,8.2,1.7,10.7-1.7s1.7-8.2-1.7-10.7    c-2.7-2-5.2-4.5-7.3-7.5c-8.2-11.3-12.3-28.6-12.3-46.1s4.1-34.7,12.3-46.1C93.7,200.3,96.1,197.8,98.8,195.8z"/><path d="M402.7,178.1c-3.4-2.5-8.2-1.7-10.7,1.7s-1.7,8.2,1.7,10.7c2.7,2,5.2,4.5,7.3,7.5c8.2,11.3,12.3,28.6,12.3,46.1h0    c0,17.5-4.1,34.7-12.3,46.1c-2.2,3-4.6,5.5-7.3,7.5c-3.4,2.5-4.2,7.3-1.7,10.7c2.5,3.4,7.3,4.2,10.7,1.7    c4.1-2.9,7.7-6.6,10.8-10.9c10.1-14,15.2-34.6,15.2-55.1h0c0-20.4-5.1-41.1-15.2-55.1C410.4,184.8,406.8,181.1,402.7,178.1z"/><path d="M123.9,205.2c3.4-2.5,4.2-7.3,1.7-10.7c-2.5-3.4-7.3-4.2-10.7-1.7c-3.5,2.5-6.6,5.7-9.3,9.4c-8.6,11.9-13,29.4-13,46.7    c0,17.3,4.3,34.8,13,46.7c2.7,3.7,5.8,6.9,9.3,9.4c3.4,2.5,8.2,1.7,10.7-1.7c2.5-3.4,1.7-8.2-1.7-10.7c-2.2-1.6-4.1-3.6-5.8-6    c-6.7-9.2-10-23.4-10-37.7c0-14.3,3.3-28.5,10-37.7C119.8,208.8,121.7,206.8,123.9,205.2z"/><path d="M377.6,188.4c-3.4-2.5-8.2-1.7-10.7,1.7c-2.5,3.4-1.7,8.2,1.7,10.7c2.2,1.6,4.1,3.6,5.8,6c6.7,9.2,10,23.4,10,37.7    s-3.3,28.5-10,37.7c-1.7,2.4-3.7,4.4-5.8,6c-3.4,2.5-4.2,7.3-1.7,10.7c2.5,3.4,7.3,4.2,10.7,1.7c3.5-2.5,6.6-5.7,9.3-9.4    c8.6-11.9,13-29.4,13-46.7s-4.3-34.8-13-46.7C384.2,194.1,381.2,191,377.6,188.4z"/></g></g><text x="0" y="507" fill="#000000" font-size="5px" font-weight="bold" font-family="'Helvetica Neue', Helvetica, Arial-Unicode, Arial, Sans-serif">Created by Iconbunny</text><text x="0" y="512" fill="#000000" font-size="5px" font-weight="bold" font-family="'Helvetica Neue', Helvetica, Arial-Unicode, Arial, Sans-serif">from the Noun Project</text></svg>

1-background/introduction/introduction.tex

@@ -0,0 +1,271 @@
+\chapter{Introduction}
+\mainlabel{introduction}
+
+This thesis presents research on direct hand interaction with real and virtual everyday objects, visually and haptically augmented using immersive \AR and wearable haptic devices.
+
+\section{Visual and Tactile Object Augmentations}
+\label{visuo_haptic_augmentations}
+
+\subsectionstarbookmark{Hand Interaction with Everyday Objects}
+
+In daily life, we simultaneously look and touch the everyday objects around us without even thinking about it.
+Many of these object properties can be perceived in a complementary way through both vision and touch, such as their shape, size or texture \cite{baumgartner2013visual}.
+But vision often precedes touch, enabling us to expect the tactile sensations we will feel when touching the object, \eg stiffness or texture, and even to predict properties that we cannot see, \eg weight or temperature.
+Information from different sensory sources may be complementary, redundant or contradictory \cite{ernst2004merging}.
+This is why we sometimes want to touch an object to check one of its properties that we have seen and to compare or confront our visual and tactile sensations.
+We then instinctively construct a unified perception of the object we are exploring and manipulating from these visual and tactile sensory modalities, as well as from the movement of our hand and fingers on the object \cite{ernst2002humans}.
+
+The sense of touch also allows us to perceive our environment, but also to represent ourselves in space and to interact with the surrounding objects.
+This is due to the many sensory receptors distributed throughout our hands and body, and which can be divided into two modalities: kinesthetic (or proprioception), which are the forces felt by muscles and tendons, and cutaneous (or tactile), which are the pressures, stretches, vibrations and temperatures felt by the skin.
+This rich and complex variety of actions and sensations makes it particularly difficult to artificially recreate capabilities of touch, for example in virtual or remote operating environments \cite{culbertson2018haptics}.
+
+\subsectionstarbookmark{Wearable Haptics Promise Everyday Use}
+
+\emph{Haptics} is the study of the sense of touch and user interfaces that involve touch.
+Haptic devices can be categorized according to how they interface with a user: graspable, touchable and wearable, as illustrated in \figref{haptic-categories}.
+Graspable interfaces are the traditional haptic devices that are held in the hand.
+They are either grounded devices that provide kinesthetic (force) feedback, \eg a robotic arm or a joystick, or ungrounded tactile devices, \eg a game controller or a smartphone.
+Touchable interfaces are actuated devices that are directly touched and that can dynamically change their shape or surface property, such as stiffness or friction, providing simultaneous kinesthetic and cutaneous feedback.
+However, graspable interfaces occupy the hand, preventing interaction with other objects, and touchable interfaces often involve cumbersome mechanisms and are by definition limited to their own working surface.
+Instead, wearable interfaces are directly mounted on the body to provide cutaneous sensations on the skin in a portable way and without restricting the user's movements \cite{pacchierotti2017wearable}.
+
+\begin{subfigs}{haptic-categories}{
+    Haptic devices can be classified into three categories according to their interface with the user:
+  }[][
+  \item graspable,
+  \item touchable, and
+  \item wearable. Adapted from \textcite{culbertson2018haptics}.
+  ]
+  \subfig[0.25]{culbertson2018haptics-graspable}
+  \subfig[0.25]{culbertson2018haptics-touchable}
+  \subfig[0.25]{culbertson2018haptics-wearable}
+\end{subfigs}
+
+A wide range of wearable haptic devices have been developed to provide the user with rich virtual haptic sensations, including normal force, skin stretch, vibration and thermal feedback.
+\figref{wearable-haptics} shows some examples of different wearable haptic devices with different form factors and rendering capabilities.
+Their portability, \ie their small form factor, light weight and unobtrusiveness, makes them particularly promising for everyday use in a variety of applications such as robotics, teleoperation, \VR, and social interactions \cite{pacchierotti2017wearable,culbertson2018haptics}.
+But their use in combination with \AR has been little explored so far.
+
+\begin{subfigs}{wearable-haptics}{
+    Wearable haptic devices can render sensations on the skin as feedback to real or virtual objects being touched.
+  }[][
+  \item Wolverine, a wearable exoskeleton that simulate contact and grasping of virtual objects with force feedback on the fingers \cite{choi2016wolverine}.
+  \item Touch\&Fold, a wearable haptic device mounted on the nail that fold on demand to render contact, normal force and vibrations to the fingertip \cite{teng2021touch}.
+  \item The hRing, a wearable haptic ring mounted on the proximal phalanx able to render normal and shear forces to the finger \cite{pacchierotti2016hring}.
+  \item Tasbi, a haptic bracelet capable of rendering squeeze and vibrotactile feedback to the wrist \cite{pezent2022design}.
+  ]
+  \subfigsheight{28mm}
+  \subfig{choi2016wolverine}
+  \subfig{teng2021touch}
+  \subfig{pacchierotti2016hring}
+  \subfig{pezent2019tasbi}
+\end{subfigs}
+
+\subsectionstarbookmark{Augmented Reality Is Not Only Visual}
+
+\AR integrates virtual content into the real world perception, creating the illusion of a unique \AE.
+It thus promises natural and seamless interaction with the physical and digital objects (and their combination) directly with our hands.
+It is technically and conceptually closely related to \VR, which replaces the \RE perception with a \VE.
+\AR and \VR can be placed on a reality-virtuality continuum, as proposed by \textcite{milgram1994taxonomy} and illustrated in \figref{rv-continuum}\footnote{On the original reality-virtuality continuum of \textcite{milgram1994taxonomy}, augmented virtuality is also considered, as the incorporation of real objects to a \VE, and is placed between \AR and \VR. For simplicity, we only consider \AR and \VR in this thesis.}.
+It describes the degree of virtuality of the environment along an axis, with one end being the \RE and the other end being a pure \VE, \ie indistinguishable from the real world (such as \emph{The Matrix} movies).
+Between these two extremes lies \MR, which comprises \AR and \VR as different levels of mixing real and virtual environments \cite{skarbez2021revisiting}.\footnote{This is the original and classic definition of \MR, but there is still a debate on defining and characterize \AR and \MR experiences \cite{speicher2019what,skarbez2021revisiting}.}
+\AR/\VR is most often understood as addressing only the visual sense, and as haptics, it can take many forms as a user interface.
+The most promising devices are \AR headset, which are portable displays worn directly on the head, providing the user with an immersive \AE/\VE.
+
+\begin{subfigs}{rv-continuums}{Reality-virtuality continuums. }[][
+  \item For the visual sense, as originally proposed by and adapted from \textcite{milgram1994taxonomy}.
+  \item Extension to include the haptic sense on a second, orthogonal axis, proposed by and adapted from \textcite{jeon2009haptic}.
+  ]
+  \subfig[0.44]{rv-continuum}
+  \subfig[0.54]{visuo-haptic-rv-continuum3}
+\end{subfigs}
+
+\AR/\VR can also be extended to render for sensory modalities other than vision.
+\textcite{jeon2009haptic} proposed extending the reality-virtuality continuum to include haptic feedback by decoupling into two orthogonal haptic and visual axes (\figref{visuo-haptic-rv-continuum3}).
+The combination of the two axes defines 9 types of visuo-haptic environments, with 3 possible levels of virtuality for each visual or haptic axis: real, augmented and virtual.
+For example, a visual \AE that uses a tangible (touchable) object as a proxy to manipulate virtual content is considered a haptic \RE (\eg \figref{kahl2023using}; bottom middle cell in \figref{visuo-haptic-rv-continuum3}), whereas a device that provides synthetic haptic feedback when touching a \VO is considered a haptic \VE (\eg \figref{meli2018combining}; top middle cell in \figref{visuo-haptic-rv-continuum3}).
+Haptic \AR is then the combination of real and virtual haptic stimuli \cite{bhatia2024augmenting} (middle row in \figref{visuo-haptic-rv-continuum3}).
+In particular, it has been implemented by enhancing the haptic perception of tangible objects by providing timely tactile stimuli using wearable haptics.
+\figref{salazar2020altering} shows an example of modifying the perceived stiffness of a tangible object in \VR using simultaneous pressure feedback on the finger (left middle cell in \figref{visuo-haptic-rv-continuum3}).
+\figref{bau2012revel} shows another example of visuo-haptic \AR rendering of virtual texture when running the finger on a tangible surface (middle cell in the two axes in \figref{visuo-haptic-rv-continuum3}).
+
+Current visual \AR systems often lack haptic feedback, creating a deceptive and incomplete user experience when reaching the \VE with the hand.
+All visual \VOs are inherently intangible and cannot physically constrain a user's hand, making it difficult to perceive their properties congruently and interact with them with confidence and efficiency.
+It is therefore necessary to provide haptic feedback that is consistent with the visual \AE and ensures the best possible user experience.
+The integration of wearable haptics with \AR seems to be one of the most promising solutions, but it remains challenging due to their many respective characteristics and the additional constraints of combining them.
+
+\begin{subfigs}{visuo-haptic-environments}{Visuo-haptic environments with different degrees of reality-virtuality. }[][
+  \item Visual \AR environment with a real, tangible haptic object used as a proxy to manipulate a \VO \cite{kahl2023using}.
+  \item Visual \AR environment with a wearable haptic device that provides virtual, synthetic feedback from contact with a \VO \cite{meli2018combining}.
+  \item A tangible object seen in a visual \VR environment whose haptic perception of stiffness is augmented with the hRing haptic device \cite{salazar2020altering}.
+  \item Visuo-haptic rendering of texture on a touched tangible object with a visual \AR display and haptic electrovibration feedback \cite{bau2012revel}.
+  ]
+  \subfigsheight{31mm}
+  \subfig{kahl2023using}
+  \subfig{meli2018combining}
+  \subfig{salazar2020altering}
+  \subfig{bau2012revel}
+\end{subfigs}
+
+\section{Research Challenges of Wearable Visuo-Haptic Augmented Reality}
+\label{research_challenges}
+
+The integration of wearable haptics with \AR to create a visuo-haptic \AE is complex and presents many perceptual and interaction challenges, \ie sensing the \AE and acting effectively upon it.
+We are particularly interested in enabling direct contact of virtual and augmented objects with the bare hand.
+Our goal is to enable congruent, intuitive and seamless perception and manipulation of the visuo-haptic \AE.
+
+The experience of such a visuo-haptic \AE relies on an interaction loop with the user, as illustrated in \figref{interaction-loop}.
+The \RE and the user's hand are tracked in real time by sensors and reconstructed in visual and haptic \VEs.
+The interactions between the virtual hand and objects are then simulated and rendered as visual and haptic feedback to the user using an \AR headset and a wearable haptic device.
+Because the visuo-haptic \VE is displayed in real time, colocalized and aligned with the real one, the user is given the illusion of directly perceiving and interacting with the virtual content as if it were part of the \RE.
+
+\fig{interaction-loop}{The interaction loop between a user and a visuo-haptic augmented environment.}[
+  One interact with the visual (in blue) and haptic (in red) virtual environment through a virtual hand (in purple) interaction technique that tracks real hand movements and simulates contact with \VOs.
+  The virtual environment is rendered back to the user co-localized with the real one (in gray) using a visual \AR headset and a wearable haptic device.
+]
+
+In this context, we identify two main research challenges that we address in this thesis:
+\begin{enumerate*}[label=(\Roman*)]
+\item providing plausible and coherent visuo-haptic augmentations, and
+\item enabling effective manipulation of the augmented environment.
+\end{enumerate*}
+Each of these challenges also raises numerous design, technical and human issues specific to each of the two types of feedback, wearable haptics and immersive \AR, as well as multimodal rendering and user experience issues in integrating these two sensorimotor feedbacks into a coherent and seamless visuo-haptic \AE.
+
+\subsectionstarbookmark{Provide Plausible and Coherent Visuo-Haptic Augmentations}
+
+Many haptic devices have been designed and evaluated specifically for use in \VR, providing realistic and varied kinesthetic and tactile feedback to \VOs.
+Although closely related, (visual) \AR and \VR have key differences in their respective renderings that can affect user perception.
+
+First, the user's hand and \RE are visible in \AR, unlike \VR where there is total control over the visual rendering of the hand and \VE.
+As such, in \VR, visual sensations are particularly dominant in perception, and conflicts with haptic sensations are also specifically created to influence the user's perception, for example to create pseudo-haptic \cite{ujitoko2021survey} or haptic retargeting \cite{azmandian2016haptic} effects.
+Moreover, many wearable haptic devices take the form of controllers, gloves or exoskeletons, all of which cover the fingertips and are therefore not suitable for \AR.
+The user's hand must be indeed free to touch and interact with the \RE while wearing a wearable haptic device.
+It is possible instead to place the haptic actuator close to the point of contact with the \RE, as described above to implement haptic \AR, \eg providing haptic feedback on the nail \cite{ando2007fingernailmounted,teng2021touch}, another phalanx \cite{asano2015vibrotactile,salazar2020altering} or the wrist \cite{pezent2022design,sarac2022perceived} for rendering fingertip contacts with virtual content.
+Therefore, when touching a virtual or augmented object, the real and virtual visual sensations are seen as co-localized, but the virtual haptic feedback is not.
+It remains to be investigated how such potential discrepancies affect the overall perception to design visuo-haptic renderings adapted to \AR.
+
+So far, \AR can only add visual and haptic sensations to the user's overall perception of the environment, but conversely it is very difficult to remove sensations.
+These added virtual sensations can therefore be perceived as out of sync or even inconsistent with the sensations of the \RE, for example with a lower rendering quality, a temporal latency, a spatial shift, or a combination of these.
+It is therefore unclear to what extent the real and virtual visuo-haptic sensations will be perceived as realistic or plausible, and to what extent they will conflict or complement each other in the perception of the \AE.
+
+\subsectionstarbookmark{Enable Effective Manipulation of the Augmented Environment}
+
+Touching, grasping and manipulating \VOs are fundamental interactions for \AR \cite{kim2018revisiting}, \VR \cite{bergstrom2021how} and \VEs in general \cite{laviolajr20173d}.
+As the hand is not occupied or covered with a haptic device to not impair interaction with the \RE, as described in the previous section, one can expect a seamless and direct manipulation of the hand with the virtual content as if it were real.
+Thus, augmenting a tangible object has the advantage of physically constraining the hand, allowing for easy and natural interaction, but manipulating a purely \VO with the bare hand can be challenging without good haptic feedback \cite{maisto2017evaluation,meli2018combining}. %, and one will rely on visual and haptic feedback to guide the interaction.
+
+In addition, current \AR systems have visual rendering limitations that also affect interaction with \VOs. %, due to depth underestimation, a lack of mutual occlusions,  and hand tracking latency.
+Visual \AR is the display of superimposed images of the virtual world, synchronized with the user's current view of the real world.
+But the depth perception of the \VOs is often underestimated \cite{peillard2019studying,adams2022depth}, and there is often a lack of mutual occlusion between the hand and a \VO, \ie that the hand can hide the object or be hidden by the object \cite{macedo2023occlusion}.
+Finally, as illustrated in \figref{interaction-loop}, interacting with a \VO is an illusion, because in fact the real hand is controlling in real time a virtual hand, like an avatar, whose contacts with \VOs are then simulated in the \VE.
+Therefore, there is inevitably a latency delay between the real hand's movements and the \VO's return movements, and a spatial shift between the real hand and the virtual hand, whose movements are constrained to the touched \VO \cite{prachyabrued2014visual}.
+This makes it difficult to perceive the position of the fingers relative to the object before touching or grasping it, and also to estimate the force required to grasp and move the object to a desired location.
+
+Hence, it is necessary to provide visual and haptic feedback that allows the user to efficiently contact, grasp and manipulate a \VO with the hand.
+Yet, it is unclear which type of visual and haptic feedback is the best suited to guide the \VO manipulation, and whether one or the other of a combination of the two is most beneficial for users.
+
+\section{Approach and Contributions}
+\label{contributions}
+
+The aim of this thesis is to understand how immersive visual and wearable haptic augmentations complement each other in the context of direct hand perception and manipulation with virtual and augmented objects.
+As described in the Research Challenges section above, providing a convincing, consistent and effective visuo-haptic \AE to a user is complex and raises many issues.
+Our approach is to
+\begin{enumerate*}[label=(\arabic*)]
+\item design immersive and wearable multimodal visuo-haptic renderings that augment both the objects being interacted with and the hand interacting with them, and
+\item evaluate in user studies how these renderings affect the perception of and interaction with these objects using psychophysical, performance, and user experience methods.
+\end{enumerate*}
+
+We consider two main axes of research, each addressing one of the research challenges identified above:
+\begin{enumerate*}[label=(\Roman*)]
+\item modifying the perception of tangible surfaces using visuo-haptic texture augmentations, and
+\item improving the manipulation of virtual objects using visuo-haptic augmentations of the hand-object interaction.
+\end{enumerate*}
+Our contributions in these two axes are summarized in \figref{contributions}.
+
+\fig[0.95]{contributions}{Summary of our contributions through the simplified interaction loop.}[
+  The contributions are represented in dark gray boxes, and the research axes in light green circles.
+  The first axis is \textbf{(I)} the design and evaluation of the perception of visuo-haptic texture augmentations of tangible surfaces, directly touched by the hand.
+  The second axis focuses on \textbf{(II)} improving the manipulation of \VOs with the bare hand using visuo-haptic augmentations of the hand as interaction feedback.
+]
+
+\subsectionstarbookmark{Axis I: Modifying the Perception of Tangible Surfaces with Visuo-Haptic Texture Augmentations}
+
+Wearable haptic devices have proven to be effective in modifying the perception of a touched tangible surface, without modifying the tangible, nor covering the fingertip, forming a haptic \AE \cite{bau2012revel,detinguy2018enhancing,salazar2020altering}.
+%It is achieved by placing the haptic actuator close to the fingertip, to let it free to touch the surface, and rendering tactile stimuli timely synchronised with the finger movement.
+%It enables rich haptic feedback as the combination of kinesthetic sensation from the tangible and cutaneous sensation from the actuator.
+However, wearable haptic \AR have been little explored with visual \AR, as well as the visuo-haptic augmentation of textures.
+Texture is indeed one of the main tactile sensation of a surface material \cite{hollins1993perceptual,okamoto2013psychophysical}, perceived equally well by both sight and touch \cite{bergmanntiest2007haptic,baumgartner2013visual}, and one of the most studied haptic (only, without visual) rendering \cite{unger2011roughness,culbertson2014modeling,strohmeier2017generating}.
+For this first axis of research, we propose to design and evaluate the perception of virtual visuo-haptic textures augmenting tangible surfaces. %, using an immersive \AR headset and a wearable vibrotactile device.
+To this end, we (1) design a system for rendering virtual visuo-haptic texture augmentations, to (2) evaluate how the perception of these textures is affected by the visual virtuality of the hand and the environment (\AR \vs \VR), and (3) investigate the perception of co-localized visuo-haptic texture augmentations in \AR.
+
+First, an effective approach to rendering haptic textures is to generate a vibrotactile signal that represents the finger-texture interaction \cite{culbertson2014modeling,asano2015vibrotactile}.
+Yet, to achieve the natural interaction with the hand and a coherent visuo-haptic feedback, it requires a real time rendering of the textures, no constraints on the hand movements, and a good synchronization between the visual and haptic feedback.
+Thus, our first objective is to design an immersive, real time system that allows free exploration with the bare hand of visuo-haptic texture augmentations on tangible surfaces.
+
+Second, many works have investigated the haptic rendering of virtual textures, but few have integrated them with immersive \VEs or have considered the influence of the visual rendering on their perception.
+Still, it is known that the visual feedback can alter the perception of real and virtual haptic sensations \cite{schwind2018touch,choi2021augmenting} but also that the force feedback perception of grounded haptic devices is not the same in \AR and \VR \cite{diluca2011effects,gaffary2017ar}.
+Hence, our second objective is to understand how the perception of haptic texture augmentation differs depending on the degree of visual virtuality of the hand and the environment.
+
+Finally, some visuo-haptic texture databases have been modeled from real texture captures \cite{culbertson2014penn,balasubramanian2024sens3}, to be rendered as virtual textures with graspable haptics that are perceived as similar to real textures \cite{culbertson2015should,friesen2024perceived}.
+However, the rendering of these textures in an immersive and natural visuo-haptic \AR using wearable haptics remains to be investigated.
+Our third objective is to evaluate the perception of simultaneous and co-localized visuo-haptic texture augmentation of tangible surfaces in \AR, directly touched by the hand, and to understand to what extent each sensory modality contributes to the overall perception of the augmented texture.
+
+\subsectionstarbookmark{Axis II: Improving Virtual Object Manipulation with Visuo-Haptic Augmentations of the Hand}
+
+In immersive and wearable visuo-haptic \AR, the hand is free to touch and interact seamlessly with real, augmented, and virtual objects, and one can expect natural and direct contact and manipulation of \VOs with the bare hand.
+However, the intangibility of the visual \VE, the display limitations of current visual \OST-\AR systems and the inherent spatial and temporal discrepancies between the user's hand actions and the visual feedback in the \VE can make the interaction with \VOs particularly challenging.
+%However, the intangibility of the virtual visual environment, the lack of kinesthetic feedback of wearable haptics, the visual rendering limitations of current \AR systems, as well as the spatial and temporal discrepancies between the real environment, the visual feedback, and the haptic feedback, can make the interaction with \VOs with bare hands particularly challenging.
+Two particular sensory feedbacks are known to improve such direct \VO manipulation, but they have not been properly investigated in immersive \AR: visual rendering of the hand \cite{piumsomboon2014graspshell,prachyabrued2014visual} and delocalized haptic rendering \cite{lopes2018adding,teng2021touch}.
+For this second axis of research, we propose to design and evaluate \textbf{the role of visuo-haptic augmentations of the hand as interaction feedback with \VOs in immersive \OST-\AR}.
+We consider the effect on the user performance an experience of (1) the visual rendering as hand augmentation and (2) combination of different visuo-haptic rendering of the hand manipulation with \VOs
+
+First, the visual rendering of the virtual hand is a key element for interacting and manipulating \VOs in \VR \cite{prachyabrued2014visual,grubert2018effects}.
+A few works have also investigated the visual rendering of the virtual hand in \AR, from simulating mutual occlusions between the hand and \VOs \cite{piumsomboon2014graspshell,al-kalbani2016analysis} to displaying the virtual hand as an avatar overlay \cite{blaga2017usability,yoon2020evaluating}, augmenting the real hand.
+But \OST-\AR has significant perceptual differences from \VR due to the visibility of the real hand and environment, and these visual hand augmentations have not been evaluated in the context of \VO manipulation with the bare hand.
+Thus, our fourth objective is to \textbf{investigate the visual rendering as hand augmentation} for direct manipulation of \VOs in \OST-\AR.
+
+Second, as described above, wearable haptics for visual \AR rely on moving the haptic actuator away from the fingertips to not impair the hand movements, sensations, and interactions with the \RE.
+Previous works have shown that wearable haptics that provide feedback on the hand manipulation with \VOs in \AR can significantly improve the user performance and experience \cite{maisto2017evaluation,meli2018combining}.
+However, it is unclear which positioning of the actuator is the most beneficial nor how a haptic augmentation of the hand compares or complements with a visual augmentation of the hand.
+Our last objective is to \textbf{investigate the visuo-haptic rendering of the hand manipulation} with \VOs in \OST-\AR using wearable vibrotactile haptic.
+
+\section{Thesis Overview}
+\label{thesis_overview}
+
+This thesis is divided in four parts.
+In \textbf{\partref{background}}, we describe the context and background of our research, within which this first current \textit{Introduction} chapter we present the research challenges, and the objectives, approach, and contributions of this thesis.
+
+In \textbf{\chapref{related_work}}, we then review previous work on the perception and manipulation with virtual and augmented objects, directly with the hand, using either wearable haptics, \AR, or their combination.
+First, we overview how the hand perceives and manipulate real everyday objects.
+Second, we present wearable haptics and haptic augmentations of roughness and hardness of real objects.
+Third, we introduce \AR, and how \VOs can be manipulated directly with the hand.
+Finally, we describe how multimodal visual and haptic feedback have been combined in \AR to enhance perception and interaction with the hand.
+
+We then address each of our two research axes in a dedicated part.
+
+\noindentskip
+In \textbf{\partref{perception}}, we describe our contributions to the first axis of research, augmenting the visuo-haptic texture perception of tangible surfaces.
+We evaluate how the visual rendering of the hand (real or virtual), the environment (\AR or \VR) and the textures (displayed or hidden) affect the roughness perception of virtual vibrotactile textures rendered on real surfaces and touched directly with the index finger.
+
+In \textbf{\chapref{vhar_system}}, we detail a system for rendering visuo-haptic virtual textures that augment tangible surfaces using an immersive \AR/\VR headset and a wearable vibrotactile device.
+The haptic textures are rendered as a real-time vibrotactile signal representing a grating texture, and is provided to the middle phalanx of the index finger touching the texture using a voice-coil actuator.
+The tracking of the real hand and environment is done using marker-based technique, and the visual rendering of their virtual counterparts is done using the immersive \OST \AR headset Microsoft HoloLens~2.
+
+In \textbf{\chapref{xr_perception}}, we investigate, in a user study, how different the perception of virtual haptic textures is in \AR \vs \VR and when touched by a virtual hand \vs one's own hand.
+We use psychophysical methods to measure the user roughness perception of the virtual textures, and extensive questionnaires to understand how this perception is affected by the visual rendering of the hand and the environment.
+
+In \textbf{\chapref{ar_textures}}, we evaluate the perception of visuo-haptic texture augmentations, touched directly with one's own hand in \AR.
+The virtual textures are paired visual and tactile models of real surfaces \cite{culbertson2014one} that we render as visual and haptic overlays on the touched augmented surfaces.
+Our objective is to assess the perceived realism, coherence and roughness of the combination of nine representative visuo-haptic texture pairs.
+
+\noindentskip
+In \textbf{\partref{manipulation}}, we describe our contributions to the second axis of research: improving the manipulation of \VOs using visuo-haptic augmentations of the hand as interaction feedback with \VOs in immersive \OST-\AR.
+
+In \textbf{\chapref{visual_hand}}, we investigate in a user study the effect of six visual renderings as hand augmentations for the direct manipulation of \VOs, as a set of the most popular hand renderings in the \AR literature.
+Using the \OST-\AR headset Microsoft HoloLens~2, we evaluate the user performance and experience in two representative manipulation tasks: push-and-slide and grasp-and-place a \VO directly with the hand.
+
+In \textbf{\chapref{visuo_haptic_hand}}, we evaluate in a user study two vibrotactile contact techniques, provided at four different positionings on the user's hand, as haptic rendering of the hand manipulation with \VOs.
+They are compared to the two most representative visual hand renderings from the previous chapter, and the user performance and experience are evaluated within the same \OST-\AR setup and manipulation tasks.
+
+\noindentskip
+In \textbf{\partref{part:conclusion}}, we conclude this thesis and discuss short-term future work and long-term perspectives for each of our contributions and research axes.