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Preface; Acknowledgements; Contents; 1 Introduction; 1.1 Document Structure; 2 Related Works; 2.1 Vibrotactile Devices; 2.2 Tactile Displays; 2.3 Force Feedback Systems; 2.4 Force Feedback Gloves and Wearable Devices; 2.5 Local Surface Display; 2.6 Full Shape Displays; References; 3 Research Context and Concept of the System; 3.1 Traditional Product Design Process; 3.2 New Product Design Process; 3.3 Concept of the System for Visual and Tactile Rendering; 3.4 SATIN System: Issues and Problems to Solve; 3.5 New System Specification and Architecture; References

4 Conceptual Development of the Tactile Interface4.1 Cutting Plane and Geodesic Trajectory; 4.2 Concentrated Parameters Model; 4.3 Control Sectors; 4.4 Longitudinal Plane Solution and Transversal Plane Solution; 4.4.1 Longitudinal Plane Solution; 4.4.2 Transversal Plane Solution; 4.5 Kinematic of the System; Reference; 5 Module with Indirect Actuation System; 5.1 Concept of the Module; 5.2 Concept of the Module ; 5.3 Development of the Module Transmission System; 5.3.1 Positioning System on X
Y Plane; 5.3.2 Torsion and Tangency Rotation Systems; 5.3.3 Translation System Along Z Axis

5.4 Kinematic Analysis5.5 Design of the Module and Components; 5.6 Assembly of Three Modules; 5.7 The Prototype; 5.8 Discussion of Pros and Limits; 6 Module with Direct Actuation System; 6.1 Issues and Solutions; 6.2 Design of the Module; 6.3 Kinematic Analysis; 6.3.1 Geometrical Method; 6.3.2 Analytical Method; 6.4 The Prototype and the Desktop Station; 6.5 The Control; 6.5.1 Phase 1: Surface Definition and Import; 6.5.2 Phase 2: Managing of the Control Points; 6.5.3 Phase 3: Calculation of the Servomotors Positions and Sending of Serial Signals; 7 Discussion and Users Test

7.1 Characteristics of the Tactile Display Developed7.1.1 Performances: Number of Control Points and Their Distance; 7.1.2 Performances: Curvature Radius; 7.1.3 Modularity; 7.1.4 Portability and Implementation Costs; 7.1.5 Summary of the Characteristics; 7.2 Comparison of the Various Systems; 7.3 Users Preliminary Tests; 7.4 Limits of the Tactile Display Developed; 8 Augmented Reality Visualisation System; 8.1 Introduction to Augmented Reality; 8.2 Visualisation Interfaces; 8.3 Integration with the Tactile Interface; References; 9 Conclusions and Future Works; 9.1 Future Works

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