They also use sequences of vibrations to form rhythms.
The challenge here is to find combinations of parameters that users are able to interpret together.
I conducted such kind of research during my Ph.D.~\cite{pietrzak05, pietrzak05a, pietrzak06, pietrzak09}.
-The difficulty is not only to identify such haptic parameters, but also to evaluate them.
+The difficulty is not only to identify such haptic parameters but also to evaluate them.
By increasing the number of parameters and the number of values for each parameter, we quickly reach a point where it is impossible to evaluate every combination.
-In this case we use other methods that basically consist in probing this space.
+In this case, we use other methods that basically consist of probing this space.
We will discuss this in section~\ref{sec:stimtac}.
%Typically, force-feedback device use force models, as described in the previous section.
We described above the design rationale and pitfalls of such systems.
Beyond these haptic systems, physical objects have haptic properties.
They have a weight, mobile parts with resistance, tactile textures, etc.
+Physical buttons provide haptic click and detents sensations.
These haptic properties are structural and mechanical.
For example the size, shape and layout of keyboard keys, as well as the keyboard slope, height and profile are carefully designed~\cite{lewis97}.
-The mechanical force required to push the keys is also systematically adjusted.
-The objective is to reduce the effects of fatigue and muscle strain, and avoid incidental activations.
+The mechanical force required to push the keys and the click sensation are also systematically adjusted.
+The objective is to reduce the effects of fatigue and muscle strain, avoid incidental activations, and give immediate feedback to the user's action on the device.
The haptic properties of physical interfaces is typically missing on multi-touch interfaces.
Every widget feels like a flat surface.
-Efforts were made to restore this missing haptic feedback~\cite{nashel03,lylykangas11}, and studies show that adding vibrotactile feedback to touch keyboards increase typing performance~\cite{hoggan08}.
+Efforts were made to restore this missing haptic feedback, for example with vibrotactile actuators to reproduce the clicking sensation of buttons~\cite{nashel03,lylykangas11}.
+Indeed, studies show that vibrotactile feedback increases typing performance~\cite{hoggan08} on touch keyboards.
+The clicking sensation on the Apple Magic Trackpad is impressive.
+It feels like a physical button, but when it is powered off this haptic effect disappears.
+The interaction with physical objects is interesting beyond its inspiration for bringing desirable haptic properties to touch interfaces.
+There is indeed a compelling intersection with \defword{tangible interaction}.
+Ullmer and Ishii described Tangible interaction this way: “TUIs will augment the real physical world by coupling digital information to everyday physical objects and environments.”\cite{ishii97}.
+TUIs provide
% Physical properties of objects also give haptic feedback\\
Tactile Textures~\cite{potier12,potier16}
\section{Passive haptics}
+\label{sec:metamorphe-livingdesktop}
% Leverage the physical properties of computer peripherals. Use them as tangibles~\cite{pietrzak17}.
% Actuated peripherals.
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