C. Basdogan and C. Ho, Principles of haptic rendering for virtual environments, 2002.

C. Basdogan and M. A. Srinivasan, Haptic rendering in virtual environments, Handbook of virtual environments, vol.1, pp.117-134, 2002.

E. Battaglia, G. Grioli, M. G. Catalano, M. Santello, and A. Bicchi, Thimblesense: an individual-digit wearable tactile sensor for experimental grasp studies, IEEE International Conference on, pp.2728-2735, 2014.

O. Bau, I. Poupyrev, A. Israr, H. , and C. , Teslatouch: electrovibration for touch surfaces, Proceedings of the 23nd annual ACM symposium on User interface software and technology, pp.283-292, 2010.

P. Baudisch, E. Cutrell, K. Hinckley, and A. Eversole, Snap-and-go: Helping users align objects without the modality of traditional snapping, Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, CHI '05, pp.301-310, 2005.

H. Benko, C. Holz, M. Sinclair, and E. Ofek, Normaltouch and texturetouch: High-fidelity 3d haptic shape rendering on handheld virtual reality controllers, Proceedings of the 29th Annual Symposium on User Interface Software and Technology, pp.717-728, 2016.

S. Bensma¨?abensma¨?a and M. Hollins, Pacinian representations of fine surface texture, Perception & psychophysics, vol.67, issue.5, pp.842-854, 2005.

S. Bensma¨?abensma¨?a, M. Hollins, and J. Yau, Vibrotactile intensity and frequency information in the pacinian system: A psychophysical model, Perception & psychophysics, vol.67, issue.5, pp.828-841, 2005.

L. Bibin, A. Lécuyer, J. Burkhardt, A. Delbos, and M. Bonnet, Sailor: a 3-d medical simulator of loco-regional anaesthesia based on desktop virtual reality and pseudo-haptic feedback, Proceedings of the 2008 ACM symposium on Virtual reality software and technology, pp.97-100, 2008.

A. Bicchi, E. P. Scilingo, D. Rossi, and D. , Haptic discrimination of softness in teleoperation: the role of the contact area spread rate, IEEE Transactions on Robotics and Automation, vol.16, issue.5, pp.496-504, 2000.

F. Biocca, J. Kim, and Y. Choi, Visual touch in virtual environments: An exploratory study of presence, multimodal interfaces, and cross-modal sensory illusions, Presence: Teleoperators & Virtual Environments, vol.10, issue.3, pp.247-265, 2001.

I. Birznieks, V. G. Macefield, G. Westling, and R. S. Johansson, Slowly adapting mechanoreceptors in the borders of the human fingernail encode fingertip forces, Journal of Neuroscience, vol.29, issue.29, pp.9370-9379, 2009.

S. Brewster, F. Chohan, and L. Brown, Tactile feedback for mobile interactions, Proceedings of the SIGCHI conference on Human factors in computing systems, pp.159-162, 2007.

D. Burch and D. Pawluk, Using multiple contacts with texture-enhanced graphics, World Haptics Conference (WHC), pp.287-292, 2011.

A. Burka, S. Hu, S. Helgeson, S. Krishnan, Y. Gao et al., Proton: A visuo-haptic data acquisition system for robotic learning of surface properties, Multisensor Fusion and Integration for Intelligent Systems (MFI), 2016 IEEE International Conference on, pp.58-65, 2016.

A. Burka and K. J. Kuchenbecker, How much haptic surface data is enough?, AAAI 2017 Spring Symposium Series, pp.449-453, 2017.

A. Burka, A. Rajvanshi, S. Allen, and K. J. Kuchenbecker, Proton 2: Increasing the sensitivity and portability of a visuo-haptic surface interaction recorder, 2017 IEEE International Conference on, pp.439-445, 2017.

A. Chang, J. Gouldstone, J. Zigelbaum, and H. Ishii, Pragmatic haptics, Proceedings of the 2nd international conference on Tangible and embedded interaction, pp.251-254, 2008.

E. C. Chubb, J. E. Colgate, and M. A. Peshkin, Shiverpad: A glass haptic surface that produces shear force on a bare finger, IEEE Transactions on Haptics, vol.3, issue.3, pp.189-198, 2010.

A. Colter, P. Davivongsa, D. D. Haddad, H. Moore, B. Tice et al., Soundforms: Manipulating sound through touch, Proceedings of the 2016 CHI Conference Extended Abstracts on Human Factors in Computing Systems, pp.2425-2430, 2016.

F. Crison, A. Lecuyer, D. M. Huart, J. Burkhardt, G. Michel et al., Virtual technical trainer: Learning how to use milling machines with multi-sensory feedback in virtual reality, Virtual Reality, 2005. Proceedings. VR 2005. IEEE, pp.139-145, 2005.

H. Culbertson, J. J. Delgado, and K. J. Kuchenbecker, One hundred datadriven haptic texture models and open-source methods for rendering on 3d objects, Haptics Symposium (HAPTICS), pp.319-325, 2014.

H. Culbertson and K. J. Kuchenbecker, Should haptic texture vibrations respond to user force and speed?, World Haptics Conference (WHC), pp.106-112, 2015.

H. Culbertson, J. M. Romano, P. Castillo, M. Mintz, and K. J. Kuchenbecker, Refined methods for creating realistic haptic virtual textures from tool-mediated contact acceleration data, Haptics Symposium (HAPTICS), pp.385-391, 2012.

F. Danieau, T. Lopez, N. Mollet, B. Leroy, O. Dumas et al., Enabling embodiment and interaction in omnidirectional videos, 2017 IEEE International Conference on, pp.697-702, 2017.

H. Dostmohamed and V. Hayward, Trajectory of contact region on the fingerpad gives the illusion of haptic shape, Experimental Brain Research, vol.164, issue.3, pp.387-394, 2005.

A. Drif, B. Le-mercier, and A. Kheddar, Design of a multilevel haptic display, The Sense of Touch and its Rendering, pp.207-224, 2008.
URL : https://hal.archives-ouvertes.fr/lirmm-02155316

L. Dupin, V. Hayward, and M. Wexler, Direct coupling of haptic signals between hands, Proceedings of the National Academy of Sciences, vol.112, issue.2, pp.619-624, 2015.

J. Edwards, J. Lawry, J. Rossiter, and C. Melhuish, Extracting textural features from tactile sensors, Bioinspiration & biomimetics, vol.3, issue.3, p.35002, 2008.

M. O. Ernst and M. S. Banks, Humans integrate visual and haptic information in a statistically optimal fashion, Nature, vol.415, issue.6870, p.429, 2002.

J. A. Fishel and G. E. Loeb, Bayesian exploration for intelligent identification of textures, Frontiers in neurorobotics, vol.6, 2012.

T. Flash and N. Hogan, The coordination of arm movements: an experimentally confirmed mathematical model, Journal of neuroscience, vol.5, issue.7, pp.1688-1703, 1985.

J. Fleureau, Y. Lefevre, F. Danieau, P. Guillotel, and A. Costes, Texture rendering on a tactile surface using extended elastic images and example-based audio cues, International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, pp.350-359, 2016.

S. Follmer, D. Leithinger, A. Olwal, N. Cheng, and H. Ishii, Jamming user interfaces: programmable particle stiffness and sensing for malleable and shape-changing devices, Proceedings of the 25th annual ACM symposium on User interface software and technology, pp.519-528, 2012.

S. Follmer, D. Leithinger, A. Olwal, A. Hogge, and H. Ishii, inform: dynamic physical affordances and constraints through shape and object actuation, Uist, vol.13, pp.417-426, 2013.

R. M. Friedman, K. D. Hester, B. G. Green, and R. H. Lamotte, Magnitude estimation of softness, Experimental brain research, vol.191, issue.2, pp.133-142, 2008.

M. Fritschi, Tactile displays, design and evaluation, 2016.

M. Fukumoto and T. Sugimura, Active click: tactile feedback for touch panels, CHI'01 Extended Abstracts on Human Factors in Computing Systems, pp.121-122, 2001.

Y. Gao, L. A. Hendricks, K. J. Kuchenbecker, D. , and T. , Deep learning for tactile understanding from visual and haptic data, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp.536-543, 2016.

E. P. Gardner and C. I. Palmer, Simulation of motion on the skin. i. receptive fields and temporal frequency coding by cutaneous mechanoreceptors of optacon pulses delivered to the hand, Journal of Neurophysiology, vol.62, issue.6, pp.1410-1436, 1989.

S. Greenish, V. Hayward, V. Chial, A. Okamura, and T. Steffen, Measurement, analysis, and display of haptic signals during surgical cutting, Presence: Teleoperators & Virtual Environments, vol.11, issue.6, pp.626-651, 2002.

T. Hausberger, M. Terzer, F. Enneking, Z. Jonas, K. et al., , 2017.

, Surftics-kinesthetic and tactile feedback on a touchscreen device, World Haptics Conference (WHC), 2017 IEEE, pp.472-477

V. Hayward, Display of haptic shape at different scales, Proceedings of Eurohaptics, pp.20-27, 2004.

P. S. Heckbert, Survey of texture mapping, IEEE computer graphics and applications, vol.6, issue.11, pp.56-67, 1986.

K. Higashi, S. Okamoto, H. Nagano, and Y. Yamada, Effects of mechanical parameters on hardness experienced by damped natural vibration stimulation, 2015 IEEE International Conference on, pp.1539-1544, 2015.

K. Higashi, S. Okamoto, Y. Yamada, H. Nagano, and M. Konyo, Hardness perception by tapping: Effect of dynamic stiffness of objects, World Haptics Conference (WHC), pp.37-41, 2017.

C. Ho, C. Basdogan, and M. A. Srinivasan, Efficient point-based rendering techniques for haptic display of virtual objects, Presence, vol.8, issue.5, pp.477-491, 1999.

M. Hollins, S. Bensma¨?abensma¨?a, and R. Risner, The duplex theory of tactile texture perception, Proceedings of the 14th annual meeting of the international society for psychophysics, pp.115-121, 1998.

M. Hollins and S. R. Risner, Evidence for the duplex theory of tactile texture perception, Perception, & Psychophysics, vol.62, issue.4, pp.695-705, 2000.

R. Höver and M. Harders, Measuring and incorporating slip in data-driven haptic rendering, Haptics Symposium, pp.175-182, 2010.

R. Hover, M. Harders, and G. Szekely, Data-driven haptic rendering of viscoelastic effects, Haptic interfaces for virtual environment and teleoperator systems, 2008. haptics 2008. symposium on, pp.201-208, 2008.

R. Hover, G. Kósa, G. Szekly, and M. Harders, Data-driven haptic rendering-from viscous fluids to visco-elastic solids, IEEE Transactions on Haptics, vol.2, issue.1, pp.15-27, 2009.

R. D. Howe, Tactile sensing and control of robotic manipulation, Advanced Robotics, vol.8, issue.3, pp.245-261, 1993.

J. D. Hwang, M. D. Williams, and G. Niemeyer, Toward event-based haptics: Rendering contact using open-loop force pulses, Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS'04. Proceedings. 12th International Symposium on, pp.24-31, 2004.

A. Iggo and A. R. Muir, The structure and function of a slowly adapting touch corpuscle in hairy skin, The Journal of physiology, vol.200, issue.3, pp.763-796, 1969.

, Iso 5627:1995 -paper and board -determination of smoothness, p.5627, 1995.

A. Israr, S. Zhao, K. Mcintosh, J. Kang, Z. Schwemler et al., Po2: augmented haptics for interactive gameplay, ACM SIGGRAPH 2015 Emerging Technologies, p.21, 2015.

H. Iwata, H. Yano, F. Nakaizumi, and R. Kawamura, Project feelex: adding haptic surface to graphics, Proceedings of the 28th annual conference on Computer graphics and interactive techniques, pp.469-476, 2001.

L. Jami, Golgi tendon organs in mammalian skeletal muscle: functional properties and central actions, Physiological reviews, vol.72, issue.3, pp.623-666, 1992.

M. Janko, R. Primerano, and Y. Visell, On frictional forces between the finger and a textured surface during active touch, IEEE transactions on haptics, vol.9, issue.2, pp.221-232, 2016.

Y. Jansen, Mudpad: fluid haptics for multitouch surfaces, CHI'10 Extended Abstracts on Human Factors in Computing Systems, pp.4351-4356, 2010.

N. Jaworska and A. Chupetlovska-anastasova, A review of multidimensional scaling (mds) and its utility in various psychological domains. Tutorials in quantitative methods for psychology, vol.5, pp.1-10, 2009.

R. S. Johansson and A. Vallbo, Tactile sensibility in the human hand: relative and absolute densities of four types of mechanoreceptive units in glabrous skin, The Journal of physiology, vol.286, issue.1, pp.283-300, 1979.

R. S. Johansson and ?. A. Vallbo, Tactile sensory coding in the glabrous skin of the human hand, Trends in neurosciences, vol.6, pp.27-32, 1983.

K. O. Johnson, The roles and functions of cutaneous mechanoreceptors, Current Opinion in Neurobiology, vol.11, pp.455-461, 2001.

L. A. Jones and M. Berris, Material discrimination and thermal perception, Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.171-178, 2003.
DOI : 10.1109/haptic.2003.1191267
URL : http://bdml.stanford.edu/twiki/pub/Haptics/ThermalSensing/Jones.pdf

H. Kajimoto, N. Kawakami, S. Tachi, and M. Inami, Smarttouch: electric skin to touch the untouchable, IEEE Computer Graphics and Applications, vol.24, issue.1, pp.36-43, 2004.

P. Kammermeier, A. Kron, J. Hoogen, and G. Schmidt, Display of holistic haptic sensations by combined tactile and kinesthetic feedback, Presence: Teleoperators & Virtual Environments, vol.13, issue.1, pp.1-15, 2004.

S. Kamuro, Y. Takeuchi, K. Minamizawa, and S. Tachi, Haptic editor, SIGGRAPH Asia 2012 Emerging Technologies, p.14, 2012.

D. Katz, The world of touch (le krueger, trans.). Mahwah. NJ: Rrlbaum, 1925.

C. Keller, J. Bluteau, R. Blanch, and S. Coquillart, Pseudoweight: Making tabletop interaction with virtual objects more tangible, Proceedings of the 2012 ACM international conference on Interactive tabletops and surfaces, pp.201-204, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00953336

R. Kikuuwe, N. Takesue, A. Sano, H. Mochiyama, and H. Fujimoto, Fixed-step friction simulation: from classical coulomb model to modern continuous models, IEEE/RSJ International Conference on, pp.1009-1016, 2005.

L. Kim, G. S. Sukhatme, and M. Desbrun, A haptic-rendering technique based on hybrid surface representation, IEEE computer graphics and applications, vol.24, issue.2, pp.66-75, 2004.

S. Kim, B. Han, J. Seo, and D. Kwon, Haptic interaction with virtual geometry on robotic touch surface, SIGGRAPH Asia 2014 Emerging Technologies, p.8, 2014.

S. Kim, A. Israr, and I. Poupyrev, Tactile rendering of 3d features on touch surfaces, Proceedings of the 26th annual ACM symposium on User interface software and technology, pp.531-538, 2013.

S. Kim, K. Kyung, and D. Kwon, Haptic annotation for an interactive image, Proceedings of the 5th International Conference on Ubiquitous Information Management and Communication, p.51, 2011.

R. L. Klatzky and S. J. Lederman, Touch. Handbook of psychology, pp.147-176, 2003.

R. L. Klatzky, S. J. Lederman, and V. A. Metzger, Identifying objects by touch: An "expert system, Perception & psychophysics, vol.37, issue.4, pp.299-302, 1985.

R. L. Klatzky, D. Pawluk, and A. Peer, Haptic perception of material properties and implications for applications, Proceedings of the IEEE, vol.101, issue.9, pp.2081-2092, 2013.

A. Kokubun, Y. Ban, T. Narumi, T. Tanikawa, and M. Hirose, Representing normal and shearing forces on the mobile device with visuo-haptic interaction and a rear touch interface, IEEE Haptics Symposium (HAPTICS), pp.415-420, 2014.

D. A. Kontarinis and R. D. Howe, Tactile display of vibratory information in teleoperation and virtual environments, Presence: Teleoperators and Virtual Environments, vol.4, issue.4, pp.387-402, 1995.

M. Konyo, H. Yamada, S. Okamoto, and S. Tadokoro, Alternative display of friction represented by tactile stimulation without tangential force, International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, pp.619-629, 2008.

K. J. Kuchenbecker, J. Fiene, and G. Niemeyer, Improving contact realism through event-based haptic feedback, IEEE transactions on visualization and computer graphics, vol.12, issue.2, pp.219-230, 2006.

K. J. Kuchenbecker, J. Romano, and W. Mcmahan, Haptography: Capturing and recreating the rich feel of real surfaces, Robotics Research, pp.245-260, 2011.

F. Lacquaniti, C. Terzuolo, and P. Viviani, The law relating the kinematic and figural aspects of drawing movements, Acta psychologica, vol.54, issue.1-3, pp.115-130, 1983.

J. Lang and S. Andrews, Measurement-based modeling of contact forces and textures for haptic rendering, IEEE Transactions on Visualization and Computer Graphics, vol.17, issue.3, pp.380-391, 2011.

D. A. Lawrence, L. Y. Pao, A. M. Dougherty, M. A. Salada, and Y. Pavlou, , 2000.

, Rate-hardness: A new performance metric for haptic interfaces, IEEE Transactions on Robotics and Automation, vol.16, issue.4, pp.357-371

A. Lécuyer, Simulating haptic feedback using vision: A survey of research and applications of pseudo-haptic feedback, Presence, vol.18, pp.39-53, 2009.

A. Lécuyer, J. Burkhardt, and C. Tan, A study of the modification of the speed and size of the cursor for simulating pseudo-haptic bumps and holes, 2008.

, Appl. Percept, vol.5, issue.3, pp.1-14

A. Lecuyer, S. Coquillart, A. Kheddar, P. Richard, and P. Coiffet, Pseudohaptic feedback: can isometric input devices simulate force feedback?, Proceedings IEEE Virtual Reality, pp.83-90, 2000.

S. J. Lederman, Tactile roughness of grooved surfaces: The touching process and effects of macro-and microsurface structure, Perception & Psychophysics, vol.16, issue.2, pp.385-395, 1974.

S. J. Lederman, The perception of surface roughness by active and passive touch, Bulletin of the Psychonomic Society, vol.18, issue.5, pp.253-255, 1981.

S. J. Lederman, Tactual roughness perception: spatial and temporal determinants, Canadian Journal of Psychology/Revue canadienne de psychologie, vol.37, issue.4, p.498, 1983.

S. J. Lederman and R. L. Klatzky, Hand movements: A window into haptic object recognition, Cognitive psychology, vol.19, issue.3, pp.342-368, 1987.

S. J. Lederman and R. L. Klatzky, Extracting object properties through haptic exploration, Acta psychologica, vol.84, issue.1, pp.29-40, 1993.

S. J. Lederman and M. M. Taylor, Fingertip force, surface geometry, and the perception of roughness by active touch, Perception & Psychophysics, vol.12, issue.5, pp.401-408, 1972.

M. H. Lee, Tactile sensing: new directions, new challenges, The International Journal of Robotics Research, vol.19, issue.7, pp.636-643, 2000.

D. Leithinger, S. Follmer, A. Olwal, and H. Ishii, Physical telepresence: shape capture and display for embodied, computer-mediated remote collaboration, Proceedings of the 27th annual ACM symposium on User interface software and technology, pp.461-470, 2014.

D. Leithinger, S. Follmer, A. Olwal, and H. Ishii, Shape displays: Spatial interaction with dynamic physical form, IEEE computer graphics and applications, vol.35, issue.5, pp.5-11, 2015.
DOI : 10.1109/mcg.2015.111

D. Leithinger, S. Follmer, A. Olwal, S. Luescher, A. Hogge et al., Sublimate: state-changing virtual and physical rendering to augment interaction with shape displays, Proceedings of the SIGCHI conference on human factors in computing systems, pp.1441-1450, 2013.

D. Leithinger and H. Ishii, Relief: a scalable actuated shape display, Proceedings of the fourth international conference on Tangible, embedded, and embodied interaction, pp.221-222, 2010.

V. Levesque, L. Oram, K. Maclean, A. Cockburn, N. D. Marchuk et al., Enhancing physicality in touch interaction with programmable friction, Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, pp.2481-2490, 2011.
DOI : 10.1145/1978942.1979306

J. Li, A. Song, and X. Zhang, Haptic texture rendering using single texture image, 2010 International Symposium on Computational Intelligence and Design, pp.7-10, 2010.
DOI : 10.1109/iscid.2010.9

M. Li, M. B. Ridzuan, S. Sareh, L. D. Seneviratne, P. Dasgupta et al., Pseudo-haptics for rigid tool/soft surface interaction feedback in virtual environments, Mechatronics, vol.24, issue.8, pp.1092-1100, 2014.
DOI : 10.1016/j.mechatronics.2014.07.004
URL : http://researchonline.rca.ac.uk/3220/1/pseudo-haptics%20-Mechatronics-%20Li%20and%20Sareh.pdf

J. Linjama and V. Mäkinen, E-sense screen: Novel haptic display with capacitive electrosensory interface, HAID 2009, 4th Workshop for Haptic and Audio Interaction Design, 2009.

J. Maiero, E. Kruijff, A. Hinkenjann, and G. Ghinea, Forcetab: Visuo-haptic interaction with a force-sensitive actuated tablet, Multimedia and Expo (ICME, p.2017, 2017.
DOI : 10.1109/icme.2017.8019519

, IEEE International Conference on, pp.169-174

E. Mallinckrodt, A. Hughes, and W. Sleator, Perception by the skin of electrically induced vibrations, 1953.

R. L. Mandryk, M. E. Rodgers, and K. M. Inkpen, Sticky widgets: Pseudohaptic widget enhancements for multi-monitor displays, CHI '05 Extended Abstracts on Human Factors in Computing Systems, CHI EA '05, pp.1621-1624, 2005.

S. Martin and N. Hillier, Characterisation of the novint falcon haptic device for application as a robot manipulator, Australasian Conference on Robotics and Automation (ACRA), pp.291-292, 2009.

W. Mcmahan, J. M. Romano, A. M. Rahuman, and K. J. Kuchenbecker, , 2010.

, High frequency acceleration feedback significantly increases the realism of haptically rendered textured surfaces, Haptics Symposium, 2010 IEEE, pp.141-148

M. D. Minsky, Computational haptics: the sandpaper system for synthesizing texture for a force-feedback display, 1995.

T. Miyaoka, T. Mano, and M. Ohka, Mechanisms of fine-surface-texture discrimination in human tactile sensation, The journal of the acoustical society of America, vol.105, issue.4, pp.2485-2492, 1999.
DOI : 10.1121/1.426852

A. Moscatelli, M. Bianchi, A. Serio, O. Al-atassi, S. Fani et al., A change in the fingertip contact area induces an BIBLIOGRAPHY illusory displacement of the finger, International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, pp.72-79, 2014.

Y. Mukaibo, H. Shirado, M. Konyo, and T. Maeno, Development of a texture sensor emulating the tissue structure and perceptual mechanism of human fingers, Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, pp.2565-2570, 2005.

J. Mullenbach, D. Johnson, J. E. Colgate, and M. A. Peshkin, Activepad surface haptic device, Haptics Symposium (HAPTICS), pp.407-414, 2012.
DOI : 10.1109/haptic.2012.6183823

J. Mullenbach, C. Shultz, A. M. Piper, M. Peshkin, and J. E. Colgate, Tpad fire: Surface haptic tablet, 2013.
DOI : 10.1145/2508468.2514929

K. Nakakoji, Y. Yamamoto, N. Matsubara, and Y. Koike, Tciex: An environment for designing and experiencing a variety of visuo-haptic sensory conflicts, Proceedings of the 3rd IEEE VR2011 Workshop on Perceptual Illusions in Virtual Environments, pp.23-26, 2011.

M. S. Narayanan, X. Zhou, S. Garimella, W. Waz, F. Mendel et al., Data driven development of haptic models for needle biopsy phantoms, ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012, 2012.

, 11th Motion and Vibration Conference, pp.419-427

T. Narumi, Y. Ujitoko, Y. Ban, T. Tanikawa, K. Hirota et al., , 2017.

, Resistive swipe: Visuo-haptic interaction during swipe gestures to scroll background images on touch interfaces, IEEE World Haptics Conference (WHC), pp.334-339

A. Ng, J. Lepinski, D. Wigdor, S. Sanders, and P. Dietz, Designing for lowlatency direct-touch input, Proceedings of the 25th Annual ACM Symposium on User Interface Software and Technology, pp.453-464, 2012.
DOI : 10.1145/2380116.2380174

C. M. Oddo, M. Controzzi, L. Beccai, C. Cipriani, and M. C. Carrozza, , 2011.

, Roughness encoding for discrimination of surfaces in artificial active-touch, IEEE Transactions on Robotics, vol.27, issue.3, pp.522-533

S. Okamoto, H. Nagano, and H. Ho, Psychophysical dimensions of material perception and methods to specify textural space, Pervasive Haptics, pp.3-20, 2016.

S. Okamoto, H. Nagano, and Y. Yamada, Psychophysical dimensions of tactile perception of textures, IEEE Transactions on Haptics, vol.6, issue.1, pp.81-93, 2013.

A. M. Okamura, M. R. Cutkosky, and J. T. Dennerlein, Reality-based models for vibration feedback in virtual environments, IEEE/ASME Transactions on Mechatronics, vol.6, issue.3, pp.245-252, 2001.
DOI : 10.1109/3516.951362

C. Pacchierotti, D. Prattichizzo, and K. J. Kuchenbecker, A data-driven approach to remote tactile interaction: from a biotac sensor to any fingertip cutaneous device, International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, pp.418-424, 2014.

C. Pacchierotti, D. Prattichizzo, and K. J. Kuchenbecker, Cutaneous feedback of fingertip deformation and vibration for palpation in robotic surgery, IEEE Transactions on Biomedical Engineering, vol.63, issue.2, pp.278-287, 2016.

D. K. Pai, J. Lang, J. Lloyd, and R. J. Woodham, Acme, a telerobotic active measurement facility, Experimental Robotics VI, pp.391-400, 2000.

D. K. Pai and P. Rizun, The what: A wireless haptic texture sensor, Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.3-9, 2003.
DOI : 10.1109/haptic.2003.1191210
URL : https://www.cs.rutgers.edu/~dpai/papers/PaiRiz03.pdf

M. Pare, C. Behets, and O. Cornu, Paucity of presumptive ruffini corpuscles in the index finger pad of humans, Journal of Comparative Neurology, vol.456, issue.3, pp.260-266, 2003.

D. T. Pawluk and R. D. Howe, Dynamic contact of the human fingerpad against a flat surface, Journal of biomechanical engineering, vol.121, issue.6, pp.605-611, 1999.

I. Peterlik and L. Matyska, An algorithm of state-space precomputation allowing non-linear haptic deformation modelling using finite element method, EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint, pp.231-236, 2007.

O. Portillo, C. A. Avizzano, M. Raspolli, and M. Bergamasco, Haptic desktop for assisted handwriting and drawing, Robot and Human Interactive Communication, pp.512-517, 2005.
DOI : 10.1109/roman.2005.1513831

U. Proske and S. C. Gandevia, The kinaesthetic senses, The Journal of physiology, vol.587, issue.17, pp.4139-4146, 2009.
DOI : 10.1113/jphysiol.2009.175372
URL : https://www.ncbi.nlm.nih.gov/pmc/articles/PMC2754351

W. R. Provancher and N. D. Sylvester, Fingerpad skin stretch increases the perception of virtual friction, IEEE Transactions on Haptics, vol.2, issue.4, pp.212-223, 2009.

P. Punpongsanon, D. Iwai, and K. Sato, Softar: Visually manipulating haptic softness perception in spatial augmented reality, IEEE Transactions on Visualization and Computer Graphics, vol.21, issue.11, pp.1279-1288, 2015.
DOI : 10.1109/tvcg.2015.2459792

A. Pusch and A. Lécuyer, Pseudo-haptics: from the theoretical foundations to practical system design guidelines, Proceedings of the 13th international conference on multimodal interfaces, pp.57-64, 2011.
URL : https://hal.archives-ouvertes.fr/hal-00760109

P. Ramsamy, A. Haffegee, R. Jamieson, A. , and V. , Using haptics to improve immersion in virtual environments, International Conference on Computational Science, pp.603-609, 2006.
DOI : 10.1007/11758525_81
URL : https://link.springer.com/content/pdf/10.1007%2F11758525_81.pdf

H. Richter, D. Hausen, S. Osterwald, and A. Butz, Reproducing materials of virtual elements on touchscreens using supplemental thermal feedback, Proceedings of the 14th ACM international conference on Multimodal interaction, pp.385-392, 2012.

M. B. Ridzuan, Y. Makino, and K. Takemura, Direct touch haptic display using immersive illusion with interactive virtual finger, International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, pp.432-444, 2012.
DOI : 10.1007/978-3-642-31401-8_39

L. Rincon-gonzalez, J. P. Warren, D. M. Meller, and S. H. Tillery, Haptic interaction of touch and proprioception: implications for neuroprosthetics, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.19, issue.5, pp.490-500, 2011.

J. M. Romano and K. J. Kuchenbecker, Creating realistic virtual textures from contact acceleration data, IEEE Transactions on Haptics, vol.5, issue.2, pp.109-119, 2012.

J. M. Romano and K. J. Kuchenbecker, Methods for robotic tool-mediated haptic surface recognition, Haptics Symposium (HAPTICS), pp.49-56, 2014.

A. Roudaut, A. Rau, C. Sterz, M. Plauth, P. Lopes et al., Gesture output: eyes-free output using a force feedback touch surface, Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, pp.2547-2556, 2013.

E. Ruffaldi, D. Morris, T. Edmunds, F. Barbagli, and D. K. Pai, Standardized evaluation of haptic rendering systems, Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2006 14th Symposium on, pp.225-232, 2006.

H. P. Saal and S. J. Bensmaia, Touch is a team effort: interplay of submodalities in cutaneous sensibility, Trends in neurosciences, vol.37, issue.12, pp.689-697, 2014.

S. Saga and K. Deguchi, Lateral-force-based 2.5-dimensional tactile display for touch screen, Haptics Symposium (HAPTICS), pp.15-22, 2012.
DOI : 10.1145/2818384.2818391

S. Saga and R. Raskar, Simultaneous geometry and texture display based on lateral force for touchscreen, World Haptics Conference (WHC), pp.437-442, 2013.
DOI : 10.1109/whc.2013.6548448

K. Salisbury, D. Brock, T. Massie, N. Swarup, and C. Zilles, Haptic rendering: Programming touch interaction with virtual objects, Proceedings of the 1995 symposium on Interactive 3D graphics, pp.123-130, 1995.

K. Salisbury, F. Conti, and F. Barbagli, Haptic rendering: introductory concepts, IEEE computer graphics and applications, vol.24, issue.2, pp.24-32, 2004.
DOI : 10.1109/mcg.2004.1274058

E. Sallnäs, K. Rassmus-gröhn, and C. Sjöström, Supporting presence in collaborative environments by haptic force feedback, ACM Transactions on ComputerHuman Interaction (TOCHI), vol.7, issue.4, pp.461-476, 2000.

K. B. Shimoga, A survey of perceptual feedback issues in dexterous telemanipulation. ii. finger touch feedback, Virtual Reality Annual International Symposium, pp.271-279, 1993.

M. Shimojo, M. Shinohara, and Y. Fukui, Human shape recognition performance for 3d tactile display, IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans, vol.29, issue.6, pp.637-644, 1999.

S. Shin, R. H. Osgouei, K. Kim, and S. Choi, Data-driven modeling of isotropic haptic textures using frequency-decomposed neural networks, World Haptics Conference (WHC), pp.131-138, 2015.

A. Sianov and M. Harders, Data-driven haptics: Addressing inhomogeneities and computational formulation, World Haptics Conference (WHC), pp.301-306, 2013.
DOI : 10.1109/whc.2013.6548425

M. Sinclair, M. Pahud, and H. Benko, Touchmover: actuated 3d touchscreen with haptic feedback, Proceedings of the 2013 ACM international conference on Interactive tabletops and surfaces, pp.287-296, 2013.

M. Sinclair, M. Pahud, and H. Benko, Touchmover 2.0-3d touchscreen with force feedback and haptic texture, Haptics Symposium (HAPTICS), pp.1-6, 2014.
DOI : 10.1145/2512349.2512805

M. Slater and S. Wilbur, A framework for immersive virtual environments (five): Speculations on the role of presence in virtual environments, Presence: Teleoperators & Virtual Environments, vol.6, issue.6, pp.603-616, 1997.

M. Strese, Y. Boeck, and E. Steinbach, Content-based surface material retrieval, World Haptics Conference (WHC), pp.352-357, 2017.
DOI : 10.1109/whc.2017.7989927

M. Strese, J. Lee, C. Schuwerk, Q. Han, H. Kim et al., A haptic texture database for tool-mediated texture recognition and classification, Haptic, Audio and Visual Environments and Games (HAVE), pp.118-123, 2014.
DOI : 10.1109/have.2014.6954342

M. Strese, C. Schuwerk, A. Iepure, and E. Steinbach, Multimodal featurebased surface material classification, IEEE transactions on haptics, vol.10, issue.2, pp.226-239, 2017.
DOI : 10.1109/toh.2016.2625787

M. Strese, C. Schuwerk, and E. Steinbach, On the retrieval of perceptually similar haptic surfaces, Quality of Multimedia Experience (QoMEX), pp.1-6, 2015.

M. Strese, C. Schuwerk, and E. Steinbach, Surface classification using acceleration signals recorded during human freehand movement, World Haptics Conference (WHC), pp.214-219, 2015.
DOI : 10.1109/whc.2015.7177716

I. R. Summers, R. J. Irwin, and A. C. Brady, Haptic discrimination of paper, Human Haptic Perception: Basics and Applications, pp.525-535, 2008.
DOI : 10.1007/978-3-7643-7612-3_44

Y. Tada, K. Hosoda, Y. Yamasaki, A. , and M. , Sensing the texture of surfaces by anthropomorphic soft fingertips with multi-modal sensors, Proceedings. 2003 IEEE/RSJ International Conference on, vol.1, pp.31-35, 2003.

S. Takanaka, H. Yano, and H. Iwata, Multitouch haptic interface with movable touch screen, SIGGRAPH Asia 2015 Haptic Media And Contents Design, p.13, 2015.
DOI : 10.1145/2818384.2818396

M. Taylor and S. J. Lederman, Tactile roughness of grooved surfaces: A model and the effect of friction, Perception & Psychophysics, vol.17, issue.1, pp.23-36, 1975.

V. Theoktisto, M. Fairén, I. Navazo, and E. Monclús, Rendering detailed haptic textures, Second Workshop in Virtual Reality Interactions and Physical Simulations (VRIPHYS 05), pp.16-23, 2005.

V. Theoktisto, M. Fairén-gonzález, N. Alvaro, and I. , A hybrid rugosity mesostructure (hrm) for faster rendering of fine haptic detail, XXXV Latin American Informatics Conference, 2009.

W. M. Tiest, Tactual perception of material properties, Vision research, vol.50, issue.24, pp.2775-2782, 2010.

W. M. Tiest and A. M. Kappers, Analysis of haptic perception of materials by multidimensional scaling and physical measurements of roughness and compressibility, Acta psychologica, vol.121, issue.1, pp.1-20, 2006.

W. M. Tiest and A. M. Kappers, Haptic and visual perception of roughness, Acta psychologica, vol.124, issue.2, pp.177-189, 2007.

W. M. Tiest and A. M. Kappers, Cues for haptic perception of compliance, IEEE Transactions on Haptics, vol.2, issue.4, pp.189-199, 2009.

W. M. Tiest and A. M. Kappers, Tactile perception of thermal diffusivity. Attention, perception, & psychophysics, vol.71, pp.481-489, 2009.

M. I. Tiwana, S. J. Redmond, and N. H. Lovell, A review of tactile sensing technologies with applications in biomedical engineering, Sensors and Actuators A: physical, vol.179, pp.17-31, 2012.

Y. Ujitoko, Y. Ban, T. Narumi, T. Tanikawa, K. Hirota et al., , 2015.

. Yubi-toko, SIGGRAPH Asia 2015 Emerging Technologies on -SA '15, pp.1-3

R. Ushirobira, D. Efimov, G. Casiez, N. Roussel, and W. Perruquetti, A forecasting algorithm for latency compensation in indirect human-computer interactions, European Control Conference (ECC), pp.1081-1086, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01420653

F. E. Van-beek, The effect of damping on the perception of hardness, Making Sense of Haptics, pp.81-101, 2017.

K. Van-mensvoort, What you see is what you feel: exploiting the dominance of the visual over the haptic domain to simulate force-feedback with cursor displacements, Proceedings of the 4th Conference on Designing Interactive Systems: Processes, Practices, Methods, and Techniques, pp.345-348, 2002.

L. Vanacken, J. De-boeck, and K. Coninx, The phantom versus the falcon: Force feedback magnitude effects on user's performance during target acquisition, International Workshop on Haptic and Audio Interaction Design, pp.179-188, 2010.

, Mura vision, 2018.

W. Wakita, K. Murakami, and S. Ido, A texturebased haptic model design with 3d brush, Proc. 18th International Conference on Artificial Reality and Telexistence (ICAT2008), pp.51-56, 2008.

D. Wang, K. Tuer, M. Rossi, and J. Shu, Haptic overlay device for flat panel touch displays, Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS'04. Proceedings. 12th International Symposium on, p.290, 2004.

J. Watanabe, Pseudo-haptic sensation elicited by background visual motion, ITE Transactions on Media Technology and Applications, vol.1, issue.2, pp.199-202, 2013.

K. Watanabe and M. Yasumura, Visualhaptics: Generating haptic sensation using only visual cues, Proceedings of the 2008 International Conference on Advances in Computer Entertainment Technology, pp.405-405, 2008.

T. Watanabe and S. Fukui, A method for controlling tactile sensation of surface roughness using ultrasonic vibration, Proceedings of 1995 IEEE International Conference on Robotics and Automation, vol.1, pp.1134-1139, 1995.

M. Weiss, C. Wacharamanotham, S. Voelker, and J. Borchers, Fingerflux: near-surface haptic feedback on tabletops, Proceedings of the 24th annual ACM symposium on User interface software and technology, pp.615-620, 2011.

N. Wettels, J. A. Fishel, and G. E. Loeb, Multimodal tactile sensor, The Human Hand as an Inspiration for Robot Hand Development, pp.405-429, 2014.

M. W. Wijntjes, A. Sato, V. Hayward, and A. M. Kappers, Local surface orientation dominates haptic curvature discrimination, IEEE transactions on haptics, vol.2, issue.2, pp.94-102, 2009.

L. Winfield, J. Glassmire, J. E. Colgate, and M. Peshkin, T-pad: Tactile pattern display through variable friction reduction, EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint, pp.421-426, 2007.

M. Wright, Open sound control: an enabling technology for musical networking, Organised Sound, vol.10, issue.3, pp.193-200, 2005.

J. Wu, N. Li, W. Liu, G. Song, and J. Zhang, Experimental study on the perception characteristics of haptic texture by multidimensional scaling. Haptics, IEEE Transactions on, vol.8, issue.4, pp.410-420, 2015.

G. Yang, K. Kyung, Y. Jeong, and D. Kwon, Novel haptic mouse system for holistic haptic display and potential of vibrotactile stimulation, IEEE/RSJ International Conference on, pp.1980-1985, 2005.

Y. Yang, Y. Zhang, Z. Hou, Z. Chen, and B. Lemaire-semail, Fingviewer: A new multi-touch force feedback touch screen, 2011 IEEE International Conference on Consumer Electronics (ICCE), pp.837-838, 2011.
URL : https://hal.archives-ouvertes.fr/hal-00646380

N. Yannier, A. Israr, J. F. Lehman, and R. L. Klatzky, Feelsleeve: Haptic feedback to enhance early reading, Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems, pp.1015-1024, 2015.

V. Yem and H. Kajimoto, Wearable tactile device using mechanical and electrical stimulation for fingertip interaction with virtual world, Proc. VR, pp.99-104, 2017.

S. Yim, S. Jeon, and S. Choi, Data-driven haptic modeling and rendering of frictional sliding contact with soft objects for medical training, Ubiquitous Robots and Ambient Intelligence (URAI), pp.66-67, 2014.

M. Yoshida, Dimensions of tactual impressions (1), Japanese Psychological Research, vol.10, issue.3, pp.123-137, 1968.

S. Zhao, A. Israr, and R. Klatzky, Intermanual apparent tactile motion on handheld tablets, World Haptics Conference (WHC), pp.241-247, 2015.

H. Zheng, L. Fang, M. Ji, M. Strese, Y. Ozer et al., Deep learning for surface material classification using haptic and visual information, IEEE Transactions on Multimedia, vol.18, issue.12, pp.2407-2416, 2016.

C. B. Zilles and J. K. Salisbury, A constraint-based god-object method for haptic display. In Intelligent Robots and Systems 95.'Human Robot Interaction and Cooperative Robots, Proceedings. 1995 IEEE/RSJ International Conference on, vol.3, pp.146-151, 1995.

A. Zimmerman, L. Bai, and D. D. Ginty, The gentle touch receptors of mammalian skin, Science, vol.346, issue.6212, pp.950-954, 2014.