\section{Conclusion}
\label{conclusion}

%Summary of the research problem, method, main findings, and implications.

In this chapter, we designed and implemented a system for rendering virtual haptic grating textures on a real tangible surface touched directly with the fingertip, using a wearable vibrotactile voice-coil device mounted on the middle phalanx of the finger, and allowing free explorative movements of the hand on the surface.
This tactile feedback was integrated with an immersive visual virtual environment, using an OST-AR headset, to provide users with a coherent multimodal visuo-haptic augmentation of the \RE, that can be switched between an \AR and a \VR view.