Haptic devices are designed to stimulate the sense of touch such that we can control the haptic sensations that users will perceive.
We described above the design rationale and pitfalls of such systems.
-Beyond these haptic systems, physical objects have haptic properties.
+Beyond these haptic systems, physical objects have their own haptic properties.
They have a weight, mobile parts with resistance, tactile textures, etc.
-Physical buttons provide haptic click and detents sensations.
+For example, 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}.
+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 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.
+
+The haptic properties of physical interfaces is however typically missing on multi-touch interfaces.
Every widget feels like a flat surface.
-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.
+Efforts were made to restore this missing haptic feedback.
+For example vibrotactile actuators can reproduce the clicking sensation of buttons~\cite{nashel03,lylykangas11}.
+Several variable friction technologies can reproduce texture sensations~\cite{amberg11,bau10,levesque11}.
+Not only this haptic feedback improves subjective assessment of comfort, but it also improves performance in some cases.
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
+It feels like a physical button.
+But when it is powered off, this haptic effect disappears.
+Further, studies show that vibrotactile feedback increases typing performance~\cite{hoggan08} on touch keyboards.
+We will discuss in \ref{sec:printgets} the design of vibrotactile widgets for a touch dashboard.
+
+\subsection{Haptics and tangible interaction}
+
+Interaction with physical objects is interesting beyond its inspiration for bringing desirable haptic properties to touch interfaces.
+We interact with many objects in our environment all day.
+The haptic aspect of our interaction with everyday objects is richer than with interactive systems.
+All the objects in our environment have haptic properties, and the design of these objects leverage these properties.
+We can identify the key on the door on a keyring in our pocket, just by touch.
+Thanks to the tactile sensitivity of our fingers we can perceive the shape, size and material of the key to some extent.
+We can identify ripe fruits and vegetables based on their hardness.
+We can use a TV remote in the dark because we locate the keys with proprioception.
+We can tell if an opaque bottle is empty, full or in between because we feel its weight, and we can feel the liquid splashing inside.
+
+To leverage these haptic properties of everyday objects, there is indeed a compelling intersection with \defword{tangible interaction}.
+Ullmer and Ishii described Tangible User Interfaces (TUI) this way: “TUIs will augment the real physical world by coupling digital information to everyday physical objects and environments.”~\cite{ishii97}.
+Tangible interaction not necessarily focuses on haptic properties.
+However the fact that TUIs use everyday objects means that TUIs inherit their haptic properties.
+Further, physical objects have interesting properties, among which the possiblity to change their shape.
+They can fold, squeeze, some parts are mobile.
+Changing the shape of objects can change the way we use them, therefore their function.
+For example, changing the shape of a knob changes the way we grip it~\cite{michelitsch04}.
+A knob can even become a slider~\cite{kim16}.
+In section~\ref{sec:metamorphe-livingdesktop}, we will discuss how the actuation of computer peripherals can bring them new interactive properties.
% Physical properties of objects also give haptic feedback\\
-Shape changing~\cite{michelitsch04} Knobslider~\cite{kim16} Morphees~\cite{roudaut13a}
+%Shape changing~\cite{michelitsch04} Knobslider~\cite{kim16} Morphees~\cite{roudaut13a}
%\subsection{Towards a haptic semiology}{}
%Lack of Bertin-like haptic semiology \cite{bertin83} \texttt{=>} diversity of sensations, stimulation mechanisms, haptic variables
%Most of the time, haptic is seen as a feedback modality.
-\section{Active haptics}
+\section{Contributions}
- Haptic variables, vocabulary \texttt{=>} Tactons. Diversity of sensations \cite{lederman87} \texttt{=>} diversity of devices~\cite{seifi19}.
+% Haptic variables, vocabulary \texttt{=>} Tactons. Diversity of sensations \cite{lederman87} \texttt{=>} diversity of devices~\cite{seifi19}.
% The features are: linguistic/nonlinguistic, analogue/non-analogue, arbitrary/non-arbitrary, static/dynamic\cite{bernsen93a}
Tactile Textures~\cite{potier12,potier16}
-\section{Passive haptics}
-\label{sec:metamorphe-livingdesktop}
+ \subsection{Vibrotactile widgets}
+ \label{sec:printgets}
+
+ Replacing physical controls with touchscreens have advantages: updates, reconfigurable, visual feedback, but most of haptic properties are lost: click sensations of buttons, detents on slides. Impact on interaction. Technologies to restore haptic feedback.
+
+ Vibrotactile widgets~\cite{frisson17,frisson20}
+
+ Leverages vibrotactile feedback for touch surfaces.
+
+ \subsection{Actuated computer peripherals}
+ \label{sec:metamorphe-livingdesktop}
% Leverage the physical properties of computer peripherals. Use them as tangibles~\cite{pietrzak17}.
% Actuated peripherals.
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