Therefore, haptics is mainly used either as a replacement of vision, or it complements visual and audio stimulations.
\paragraph{Replace vision}
-Sensory substitution refers to situations in which sensations that are typically perceived with one sense are translated to another sense.
-Bach-y-Rita introduced this concept~\cite{backyrita72} and invented the Tactile Vision Sensory Substitution system (TVSS) \cite{collins73}.
-In this article, the authors describe their apparatus, but also mention several other systems that already existed at the time.
-One of them was designed by Linvill and Bliss.
-It had an $8\times 12$ array of photosensors connected to piezo actuators\cite{linvill66}.
-Users could explore documents with the sensor, and feel a tactile version of the text and graphics under their fingers.
-Authors conducted user studies and measured a reading rate of 50 words per minute with an expert user, and 10 words per minute with other trained users~\cite{bliss70}.
-The same principle was used to replace visual information by auditory information~\cite{auvray05}.
+Visually impaired people, and especially blind people, extensively use haptic systems to compensate for their disability~\cite{sampaio01}.
+Haptics is also used in situations where vision is dedicated to another task, like surgery~\cite{robineau07}; or situations in which visibility is limited such as darkness or fog~\cite{vanerp01}.
+We can classify the design of haptic feedback into two main categories.
+The first one consists of translating visual stimulations to haptic sensations.
+This method is called \defword{sensory substitution} and was introduced by Bach-y-Rita~\cite{backyrita72}.
+He invented the Tactile Vision Sensory Substitution system (TVSS) \cite{collins73}, which connects a camera to an array of tactile actuators.
+Users scan their environment and perceive a tactile version of it through the device.
+This concept was studied with many devices through the decades since then~\cite{bliss70,gapenne03,hanneton10,linvill66}.
+We let readers interested in this domain check Lenay \etal's book on the topic~\cite{lenay03}.
+The second category.
-The Vibe~\cite{hanneton10}
-TDU~\cite{sampaio01}.
-It is also used in other contexts like surgery, in which vision is required for a primary task, and haptics is used to replace vision at a different scale and point of view~\cite{robineau07}.
-\cite{lenay03}
+\paragraph{Complement vision and audio} VR + other modalities
+
+\paragraph{Sensory restoration} restores lost haptic feedback\cite{maclean09}
+
+% Sensory substitution refers to situations in which sensations that are typically perceived with one sense are translated to another sense.
+% Bach-y-Rita introduced this concept~\cite{backyrita72} and invented the Tactile Vision Sensory Substitution system (TVSS) \cite{collins73}.
+% In this article, the authors describe their apparatus, but also mention several other systems that already existed at the time.
+% One of them was designed by Linvill and Bliss.
+% It had an $8\times 12$ array of photosensors connected to piezo actuators\cite{linvill66}.
+% Users could explore documents with the sensor, and feel a tactile version of the text and graphics under their fingers.
+% Authors conducted user studies and measured a reading rate of 50 words per minute with an expert user, and 10 words per minute with other trained users~\cite{bliss70}.
+% The same principle was used to replace visual information by auditory information~\cite{auvray05}.
+
+% The Vibe~\cite{hanneton10}
+
+%It is also used in other contexts like surgery, in which vision is required for a primary task, and haptics is used to replace vision at a different scale and point of view~\cite{robineau07}.
+
+
\paragraph{Active haptics}
%\cite{deroy12}
-\paragraph{Complement vision and audio} VR + other modalities
-
-\paragraph{Sensory restoration} restores lost haptic feedback\cite{maclean09}
-
-
%Most of the time, haptic is seen as a feedback modality.
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