E. Allen and C. A. Seaman, Likert scales and data analyses, Quality Progress, vol.40, issue.7, pp.64-65, 2007.

R. Boff and J. E. Lincoln, Engineering Data Compendium. Human Perception and Performance, 1988.

J. Braithwaite, D. Watson, R. Jones, and M. A. Rowe, A guide for analysing electrodermal activity skin conductance responses for psychological experiments, Psychophysiology, vol.49, pp.1017-1034, 2015.

J. D. Brown, R. Gillespie, D. Gardner, and E. A. Gansallo, Co-location of force and action improves identification of force-displacement features, 2012 IEEE Haptics Symposium (HAPTICS), pp.187-193, 2012.
DOI : 10.1109/HAPTIC.2012.6183789

J. D. Brown and R. B. Gillespie, The effect of force/motion coupling on motor and cognitive performance, 2011 IEEE World Haptics Conference, pp.197-202, 2011.
DOI : 10.1109/WHC.2011.5945485

J. Cacace, A. Finzi, and V. Lippiello, A mixed-initiative control system for an Aerial Service Vehicle supported by force feedback, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1230-1235, 2014.
DOI : 10.1109/IROS.2014.6942714

P. Cairns, Experimental methods in human-computer interaction, Encyclopedia of Human-Computer Interaction, M Soegaard, and R. F. Dam, Interaction Design Foundation, 2016.

H. Q. Dinh, N. Walker, L. F. Hodges, C. Song, and A. Kobayashi, Evaluating the importance of multi-sensory input on memory and the sense of presence in virtual environments, Proceedings IEEE Virtual Reality (Cat. No. 99CB36316), pp.222-228, 1999.
DOI : 10.1109/VR.1999.756955

L. Dupin, V. Hayward, and M. Wexler, Co-location of force and action improves identification of force-displacement features, Proc. of National Academy of Sciences, pp.619-624, 2015.

M. Ernst and M. Banks, Humans integrate visual and haptic information in a statistically optimal fashion, Nature, vol.415, issue.6870, pp.415429-433, 2002.
DOI : 10.1038/415429a

I. Farkhatdinov, N. Ouarti, and V. Hayward, Haptic motion: Improving sensation of self-motion in virtual worlds with force feedback, IEEE World Haptics, pp.677-681, 2013.

L. Fichera, C. Pacchierotti, E. Olivieri, D. Prattichizzo, and L. S. Mattos, Kinesthetic and vibrotactile haptic feedback improves the performance of laser microsurgery, 2016 IEEE Haptics Symposium (HAPTICS), pp.59-64, 2016.
DOI : 10.1109/HAPTICS.2016.7463156

C. Forbes, M. Evans, N. Hastings, and B. Peacock, Statistical Distributions, 2011.
DOI : 10.1002/9780470627242
URL : http://onlinelibrary.wiley.com/doi/10.1002/9780470627242.fmatter/pdf

R. M. Gagne, Psychological Principles in System Development, 1962.

S. Gallo, L. Santos-carreras, G. Rognini, M. Hara, A. Yamamoto et al., Towards multimodal haptics for teleoperation: Design of a tactile thermal display, 2012 12th IEEE International Workshop on Advanced Motion Control (AMC), pp.1-5, 2012.
DOI : 10.1109/AMC.2012.6197145

O. Gerovichev, P. Marayong, and A. Okamura, The Effect of Visual and Haptic Feedback on Manual and Teleoperated Needle Insertion, Medical Image Computing and Computer-Assisted Intervention, pp.147-154, 2002.
DOI : 10.1007/3-540-45786-0_19

S. G. Hart, Nasa-task load index (nasa-tlx); 20 years later, Proc. Annu. Meeting of Human Factors Ergon, pp.904-908, 2006.
DOI : 10.1037/e577632012-009

J. M. Hillis, M. O. Ernst, M. S. Banks, and M. S. Landy, Combining Sensory Information: Mandatory Fusion Within, but Not Between, Senses, Science, vol.298, issue.5598, pp.2981627-1630, 2002.
DOI : 10.1126/science.1075396
URL : http://science.sciencemag.org/content/sci/298/5598/1627.full.pdf

R. S. Kennedy, N. E. Lane, K. S. Berbaum, and M. G. , Simulator Sickness Questionnaire: An Enhanced Method for Quantifying Simulator Sickness, The International Journal of Aviation Psychology, vol.76, issue.3, pp.203-220, 1993.
DOI : 10.1207/s15327108ijap0303_3

K. Kim, D. W. Rattner, and M. A. Srinivasan, Virtual reality-based laparoscopic surgical training: The role of simulation fidelity in haptic feedback, Comput. Aided Surg, vol.9, issue.5, pp.227-234, 2004.

D. Knut and M. O. Ernst, Integration of force and position cues for shape perception through active touch, Brain Research, vol.1078, issue.1, pp.92-100, 2006.

R. H. Lamotte, Softness Discrimination With a Tool, Journal of Neurophysiology, vol.73, issue.4, pp.1777-1786, 2000.
DOI : 10.1007/BF00236209

S. J. Lederman and R. L. Klatzky, Haptic Perception, pp.711439-1459, 2009.
DOI : 10.3758/BF03205556

S. J. Lederman, A. Martin, C. Tong, and R. L. Klatzky, Relative performance using haptic and/or touch-produced auditory cues in a remote absolute texture identification task, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings., pp.151-158, 2003.
DOI : 10.1109/HAPTIC.2003.1191261

K. E. Maclean, Designing with haptic feedback, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.783-788, 2000.
DOI : 10.1109/ROBOT.2000.844146

D. C. Montgomery, Design and Analysis of Experiments, 2008.

N. Ouarti, A. Lcuyer, and A. Berthoz, Haptic motion: Improving sensation of self-motion in virtual worlds with force feedback, 2014 IEEE Haptics Symposium (HAPTICS), pp.167-174, 2014.
DOI : 10.1109/HAPTICS.2014.6775450

C. Pacchierotti, M. Abayazid, S. Misra, and D. Prattichizzo, Steering of flexible needles combining kinesthetic and vibratory force feedback, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1202-1207, 2014.
DOI : 10.1109/IROS.2014.6942710

C. Pacchierotti, A. Tirmizi, G. Bianchini, and D. Prattichizzo, Enhancing the Performance of Passive Teleoperation Systems via Cutaneous Feedback, IEEE Transactions on Haptics, vol.8, issue.4, pp.397-409, 2015.
DOI : 10.1109/TOH.2015.2457927

D. Prattichizzo, C. Pacchierotti, and G. Rosati, Cutaneous Force Feedback as a Sensory Subtraction Technique in Haptics, IEEE Transactions on Haptics, vol.5, issue.4, pp.289-300, 2012.
DOI : 10.1109/TOH.2012.15

A. Prez-bellido, M. O. Ernst, S. Soto-faraco, and J. Lpez-moliner, Visual limitations shape audio-visual integration, Journal of Vision, vol.15, issue.14, pp.151-166, 2015.
DOI : 10.1167/15.14.5

Z. F. Quek, S. B. Schorr, I. Nisky, A. M. Okamura, and W. R. Provancher, Augmentation of stiffness perception with a 1-degreeof- freedom skin stretch device, IEEE Trans. on Human-Machine Systems, issue.6, pp.44731-742, 2014.

Z. F. Quek, S. B. Schorr, I. Nisky, W. R. Provancher, and A. M. Okamura, Sensory Substitution and Augmentation Using 3-Degree-of-Freedom Skin Deformation Feedback, IEEE Transactions on Haptics, vol.8, issue.2, pp.209-221, 2015.
DOI : 10.1109/TOH.2015.2398448

X. Righetti, S. Cardin, D. Thalmann, and F. Vexo, Immersive flight for surveillance applications, 2007 IEEE Symposium on 3D User Interfaces, pp.139-142, 2007.
DOI : 10.1109/3DUI.2007.340786
URL : https://infoscience.epfl.ch/record/102638/files/04142857.pdf

M. Rohde, C. J. Van-dam, and M. O. Ernst, Statistically Optimal Multisensory Cue Integration: A??Practical Tutorial, Multisensory Research, vol.63, issue.3606, pp.4-5279, 2016.
DOI : 10.3758/BF03194544

G. Rosati, F. Oscari, C. Pacchierotti, and D. Prattichizzo, Effects of Kinesthetic and Cutaneous Stimulation During the Learning of a Viscous Force Field, IEEE Transactions on Haptics, vol.7, issue.2, pp.251-263, 2014.
DOI : 10.1109/TOH.2013.2296312

R. Sigrist, G. Rauter, R. Riener, and P. Wolf, Augmented visual, auditory, haptic, and multimodal feedback in motor learning: A review, Psychonomic Bulletin & Review, vol.11, issue.3, pp.21-53, 2012.
DOI : 10.1162/105474602317473240

D. Swapp, V. Pawar, and C. Loscos, Interaction with co-located haptic feedback in virtual reality, Virtual Reality, vol.6, issue.2, pp.24-30, 2006.
DOI : 10.1109/MC.1983.1654471

M. Y. Tsalamlal, M. A. Amorim, J. C. Martin, and M. Ammi, Combining facial expression and touch for perceiving emotional valence, IEEE Transactions on Affective Computing, 2016.
DOI : 10.1109/TAFFC.2016.2631469

R. T. Verrillo and R. L. Smith, Effect of stimulus duration on vibrotactile sensation magnitude, Bulletin of the Psychonomic Society, vol.46, issue.2, pp.112-114, 1976.
DOI : 10.1121/1.1911708

J. M. Walker, A. A. Blank, P. A. Shewokis, and M. K. Omalley, Tactile Feedback of Object Slip Facilitates Virtual Object Manipulation, IEEE Transactions on Haptics, vol.8, issue.4, pp.454-466, 2015.
DOI : 10.1109/TOH.2015.2420096