tangible -> real

1-background/introduction/introduction.tex

@@ -153,7 +153,7 @@ With a better understanding of how visual factors can influence the perception o
 
 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.
+Thus, augmenting a real 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.
 \AR is the display of superimposed images of the virtual world, synchronized with the user's current view of the real world.
@@ -178,31 +178,31 @@ Our approach is to
 
 We consider two main axes of research, each addressing one of the research challenges identified above:
 \begin{enumerate*}[label=(\Roman*)]
-\item \textbf{modifying the texture perception of tangible surfaces}, and % with visuo-haptic texture augmentations, and
+\item \textbf{modifying the texture perception of real surfaces}, and % with visuo-haptic texture augmentations, and
 \item \textbf{improving the manipulation of virtual objects}.% with 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 first axis is \textbf{(I)} the design and evaluation of the perception of visuo-haptic texture augmentations of real 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 Texture Perception of Tangible Surfaces}
+\subsectionstarbookmark{Axis I: Modifying the Texture Perception of Real Surfaces}
 
-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}.
+Wearable haptic devices have proven to be effective in altering the perception of a touched real surface, without modifying the object 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.
+%It enables rich haptic feedback as the combination of kinesthetic sensation from the real and cutaneous sensation from the actuator.
 However, wearable haptic augmentations have been little explored with \AR, as well as the visuo-haptic augmentation of textures.
 Texture is indeed one of the fundamental perceived property of a surface's 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) augmentation \cite{unger2011roughness,culbertson2014modeling,strohmeier2017generating}.
 Being able to coherently substitute the visuo-haptic texture of an everyday surface directly touched by a finger is an important step towards \AR capable of visually and haptically augmenting the \RE of a user in a plausible way.
-For this first axis of research, we propose to design and evaluate the \textbf{perception of wearable virtual visuo-haptic textures augmenting tangible surfaces}. %, using an immersive \AR headset and a wearable vibrotactile device.
+For this first axis of research, we propose to design and evaluate the \textbf{perception of wearable virtual visuo-haptic textures augmenting real surfaces}. %, using an immersive \AR headset and a wearable vibrotactile device.
 To this end, we (1) design a system for rendering wearable visuo-haptic texture augmentations, to (2) evaluate how the perception of haptic texture augmentations is affected by the visual virtuality of the hand and the environment (real, augmented, or virtual), and (3) investigate the perception of co-localized visuo-haptic texture augmentations.
 
 First, an effective approach for 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 \textbf{design an immersive, real time system} that allows free exploration with the bare hand of \textbf{wearable visuo-haptic texture augmentations} on tangible surfaces.
+Thus, our first objective is to \textbf{design an immersive, real time system} that allows free exploration with the bare hand of \textbf{wearable visuo-haptic texture augmentations} on real surfaces.
 It will form the basis of the next two chapters in this section.
 
 Second, many works have investigated the haptic augmentation of textures, but none have integrated them with \AR and \VR, or have considered the influence of the degree of visual virtuality on their perception.
@@ -211,7 +211,7 @@ Hence, our second objective is to \textbf{evaluate how the perception of wearabl
 
 Finally, some visuo-haptic texture databases have been modeled from real texture captures \cite{culbertson2014penn,balasubramanian2024sens3}, to be rendered as virtual textures with hand-held haptic devices 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 \textbf{evaluate the perception of simultaneous and co-localized wearable visuo-haptic texture augmentations} of tangible surfaces in \AR, and to understand to what extent each sensory modality contributes to the overall perception of the augmented texture.
+Our third objective is to \textbf{evaluate the perception of simultaneous and co-localized wearable visuo-haptic texture augmentations} of real surfaces in \AR, and to understand to what extent each sensory modality contributes to the overall perception of the augmented texture.
 
 \subsectionstarbookmark{Axis II: Improving the Manipulation of Virtual Objects}
 
@@ -248,10 +248,10 @@ Finally, we describe how multimodal visual and haptic feedback have been combine
 We then address each of our two research axes in a dedicated part.
 
 \noindentskip
-In \textbf{\partref{perception}} we present our contributions to the first axis of research: modifying the visuo-haptic texture perception of tangible surfaces.
+In \textbf{\partref{perception}} we present our contributions to the first axis of research: modifying the visuo-haptic texture perception of real surfaces.
 We evaluate how the visual rendering of the hand (real or virtual), the environment (\AR or \VR) and the textures (coherent, different or not shown) affect the perception of virtual vibrotactile textures rendered on real surfaces and touched directly with the index finger.
 
-In \textbf{\chapref{vhar_system}} we design and implement a system for rendering visuo-haptic virtual textures that augment tangible surfaces.%, using an immersive \OST-\AR headset and a wearable vibrotactile device.
+In \textbf{\chapref{vhar_system}} we design and implement a system for rendering visuo-haptic virtual textures that augment real surfaces. %, using an immersive \OST-\AR headset and a wearable vibrotactile device.
 The haptic textures represent a periodical patterned texture rendered by a wearable vibrotactile actuator worn on the middle phalanx of the finger touching the surface.
 The tracking of the real hand and the environment is done using a marker-based technique, and the visual rendering is done using the immersive \OST-\AR headset Microsoft HoloLens~2.
 The system allows free visual and haptic exploration of the textures, as if they were real, and forms the basis of the next two chapters.