\section{Conclusion}
\label{conclusion}

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

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.

We investigated virtual textures that modify the roughness perception of real, tangible surfaces, using a wearable vibrotactile device worn on the finger.
%
%We studied how different such wearable haptic augmented textures are perceived when touched with a virtual hand instead of one's own hand, and when the hand and its environment are visually rendered in AR or VR.
%
To this end, we first designed and implemented a visuo-haptic texture rendering system that allows free exploration of the augmented surface using a visual AR/VR headset.
%to render virtual vibrotactile textures on any tangible surface, allowing free exploration of the surface, and integrated them with an immersive visual OST-AR headset, that could be switched to a VR view.
%
%This provided a coherent and synchronised multimodal visuo-haptic augmentation of the \RE, which could also be switched between an AR and a VR view.
