A part of conclusion

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@@ -912,19 +912,40 @@ Therefore it would be interesting to investigare the combination of isomorphic a
 When I started writing this chapter, the idea was to highlight the symmetry between output and input, in particular in the case of haptics.
 The previous chapter was about the sense of touch, one of the five senses.
 % humans use to get information from their environment.
-I was however surprised by the difficulty for me to find an equivalent of the word “senses” (as the human input system) for the human output system.
+I was however surprised by the difficulty for me to find an equivalent of the word “senses”, as the human input system, for the human output system.
 I decided to use the word \defword{ability}, that I refer to ways humans have to act on their environment, similarly to the way \defword{senses} enable them to get information from their environment.
-However, humans there are not many categories, this is maybe the reason why I could not find the word I was searching for.
-To the best of my knowledge, humans can act on their environment with movements, voice, and fluid secretion.
-
-This chapter focused on \emph{motor abilities}, which are abilities that leverage the human motor system that enables people to touch and manipulate their environment.
-We described on \reffig{fig:motorpath} the process between the moment a user plans a manipulation action and the moment the system produced information based on the effects of this manipulation it sensed.
-
-
-sensing and interpretation
-input vocabulary
-  Problem with input space too small or too large.
-unnatural input
+In fact, humans do not have many kinds of ways to act on their environment.
+This is maybe the reason why I could not find the word I was searching for.
+To the best of my knowledge, humans can do so with movements, voice, and fluid secretion.
+
+This chapter focused on \emph{motor abilities}, which are abilities that leverage the human motor system.
+The motor system enables people to touch and manipulate their environment, therefore it is the output part of the human haptic system.
+I described on \reffig{fig:motorpath} the process between the moment a user plans a manipulation action and the moment the system produced information based on the effects of this manipulation it sensed.
+Similarly to the analogous figure in the previous chapter, this description clarifies the software and hardware parts on both the human and system side, as well as the connection between hamans and systems.
+This processed revealed general research questions that I addressed in some of my research projects.
+
+The first research questions was about the way we design and evaluate the sensing and interpretation of physical effects resulting from a human manipulation with an interactive system.
+This question is essentially related to the system.
+In particular I discussed a methodology and tool we designed and implemented to measure and slice the latency of interactive systems.
+
+The second research question is about the interactive input vocabulary.
+This is a whole research domain in itself.
+It involves both users and systems because the system produces the input vocabulary, and users need the physical ability to perform the appropriate actions.
+I discussed first the design of alternative input methods with flexible pens.
+Then I discussed the mapping and reduction of degrees of freedom with finger identification for multi-touch interaction.
+
+The third research question is about unnatural input, or ways to leverage the properties of virtual environments to perform actions that are impossible in the physical world.
+This research is essentially about interaction techniques, therefore it is both about the users and the system.
+The contributions I describe are interaction techniques for immersive virtual reality.
+The first one is a distant 3D pointing technique with proximity selection
+The second one is an interaction technique to select facial expressions for an avatar.
+
+%sensing and interpretation
+%input vocabulary
+%  alternatives => flexstylus
+%  Problem with input space too small or too large. => finger id
+%unnatural input
+%  vr
 
 limitations
 - latency