H. H. Ernst and . Bülthoff, Merging the senses into a robust percept, Farah and Feinberg, 2000] M. Farah and Todd E. Feinberg. Patient-Based Approaches to Cognitive Neuroscience, pp.162-169, 2000.
DOI : 10.1016/j.tics.2004.02.002

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

. Galantucci, The motor theory of speech perception reviewed, Psychonomic Bulletin & Review, vol.7, issue.3, pp.361-77, 2006.
DOI : 10.3758/BF03193857

]. B. Gervais, Naviguer entre le texte et l'écran. In Penser la lecture à l'ère de l'hypertextualité, 2002.

]. J. Gibson, The Senses Considered as Perceptual Systems, 1966.

]. M. Graziano and C. G. Gross, The cognitive neurosciences., volume xiv, chapter The representation of extrapersonal space : A possible role for bimodal, visual-tactile neurons, pp.1021-1034, 1995.

]. C. Harris and D. M. Wolpert, Signal-dependent noise determines motor planning, Nature, vol.394, issue.6695, pp.780-784, 1998.
DOI : 10.1038/29528

E. B. Helbig, M. O. Helbig, and . Ernst, Haptic perception in interaction with other senses, Human Haptic Perception : Basics and Applications, pp.235-249, 2008.
DOI : 10.1007/978-3-7643-7612-3_18

. Hommel, The Theory of Event Coding (TEC): A framework for perception and action planning, Behavioral and Brain Sciences, vol.24, issue.05, pp.849-878, 1981.
DOI : 10.1017/S0140525X01000103

]. M. Jeannerod, Neural Simulation of Action: A Unifying Mechanism for Motor Cognition, NeuroImage, vol.14, issue.1, pp.103-109, 2001.
DOI : 10.1006/nimg.2001.0832

]. M. Jeannerod, Le cerveau volontaire, Odile Jacob, pp.978-980, 2009.

]. K. Johnson and S. S. Hsiao, Neural Mechanisms of Tactual form and Texture Perception, Annual Review of Neuroscience, vol.15, issue.1, pp.227-250, 1992.
DOI : 10.1146/annurev.ne.15.030192.001303

. Klatzky, There's more to touch than meets the eye: The salience of object attributes for haptics with and without vision., Journal of Experimental Psychology: General, vol.116, issue.4, pp.356-369, 1987.
DOI : 10.1037/0096-3445.116.4.356

. Klatzky, Haptic exploration in the presence of vision., Journal of Experimental Psychology: Human Perception and Performance, vol.19, issue.4, pp.726-769, 1993.
DOI : 10.1037/0096-1523.19.4.726

]. G. Knoblich and R. Flach, Action identity: Evidence from self-recognition, prediction, and coordination, Self and Action, pp.620-632, 2003.
DOI : 10.1016/S1053-8100(03)00070-9

P. Knoblich, W. Knoblich, and . Prinz, Recognition of self-generated actions from kinematic displays of drawing., Journal of Experimental Psychology: Human Perception and Performance, vol.27, issue.2, pp.456-65, 2001.
DOI : 10.1037/0096-1523.27.2.456

. Longcamp, Learning through Hand- or Typewriting Influences Visual Recognition of New Graphic Shapes: Behavioral and Functional Imaging Evidence, Journal of Cognitive Neuroscience, vol.17, issue.5, pp.802-817, 2008.
DOI : 10.1523/JNEUROSCI.2641-04.2004

. Làdavas, Neuropsychological Evidence of an Integrated Visuotactile Representation of Peripersonal Space in Humans, Journal of Cognitive Neuroscience, vol.10, issue.5, pp.581-589, 1998.
DOI : 10.1080/13506289408402295

. Macaluso, Modulation of Human Visual Cortex by Crossmodal Spatial Attention, Science, vol.289, issue.5482, pp.1206-1208, 2000.
DOI : 10.1126/science.289.5482.1206

. Meary, Four-Day-Old Human Neonates Look Longer at Non-Biological Motions of a Single Point-of-Light, PLoS ONE, vol.39, issue.1, p.186, 2007.
DOI : 10.1371/journal.pone.0000186.s002

URL : https://hal.archives-ouvertes.fr/hal-00828050

B. Penfield, E. Penfield, and . Boldrey, SOMATIC MOTOR AND SENSORY REPRESENTATION IN THE CEREBRAL CORTEX OF MAN AS STUDIED BY ELECTRICAL STIMULATION, Brain, vol.60, issue.4, pp.389-443, 1937.
DOI : 10.1093/brain/60.4.389

R. Penfield, T. Penfield, and . Rasmussen, THE CEREBRAL CORTEX IN MAN, Archives of Neurology & Psychiatry, vol.40, issue.3, 1950.
DOI : 10.1001/archneurpsyc.1938.02270090011001

V. T. Perenin, A. Perenin, and . Vighetto, OPTIC ATAXIA: A SPECIFIC DISRUPTION IN VISUOMOTOR MECHANISMS, Brain, vol.111, issue.3, pp.643-674, 1988.
DOI : 10.1093/brain/111.3.643

. Poppel, Leter : Residual visual function after brain wounds involving the central visual pathways in man System der optischen und haptishen raumtaüschungen, Nature Zeitcrift für Physiologie, vol.243, issue.131, pp.295-6296, 1934.

. Rizzolatti, Afferent properties of periarcuate neurons in macaque monkeys. II. Visual responses, Behavioural Brain Research, vol.2, issue.2, pp.147-63, 1977.
DOI : 10.1016/0166-4328(81)90053-X

. Saygin, Point-Light Biological Motion Perception Activates Human Premotor Cortex, Journal of Neuroscience, vol.24, issue.27, pp.246181-6188, 2004.
DOI : 10.1523/JNEUROSCI.0504-04.2004

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.1.2967

L. A. Schmidt, T. D. Schmidt, and . Lee, Motor Control and Learning : A Behavioral Emphasis, Human KineticsSerres, 2001] M. Serres. Hominescence. Number ISBN 2746500558, 1987.

]. M. Serres-]-r, F. A. Shadmehr, and . Mussa-ivaldi, Les nouvelles technologies : révolution culturelle et cognitive Web :http ://interstices.info/jcms/c_33030/les-nouvelles-technologies-revolution-culturelle-et-cognitive Adaptive representation of dynamics during learning of a motor task, Shadmehr and Mussa-Ivaldi, pp.3208-3224, 1994.

]. Lh and . Shaffer, Attention and performance., volume V, chapter Multiple attention in continuous verbal tasks, pp.157-167, 1975.

. Shiffrar, ]. M. Freyd, J. J. Shiffrar, and . Freyd, Apparent Motion of the Human Body, Psychological Science, vol.61, issue.4, pp.257-264, 1990.
DOI : 10.1037/h0030156

]. K. Shimoga, Finger Force and Touch Feedback Issues in Dexterous Telemanipulation, Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration, pp.159-178, 1992.
DOI : 10.1109/IRSSE.1992.671841

S. Soto-faraco, C. Soto-faraco, and . Spence, Modality-specific auditory and visual temporal processing deficits, The Quarterly Journal of Experimental Psychology Section A, vol.4, issue.1, pp.23-40, 2002.
DOI : 10.1037/0033-2909.125.4.458

M. E. Stein, M. A. Stein, and . Meredith, The Merging of the Senses, 1993.

J. Todorov, M. I. Todorov, and . Jordan, Optimal feedback control as a theory of motor coordination, Nature Neuroscience, vol.5, issue.11, pp.1226-1261, 2002.
DOI : 10.1038/nn963

D. Treisman, A. Treisman, and . Daviesuno, Attention and Performance, volume IV, chapter Divided attention to ear and eye Formation and control of optimal trajectory in human multijoint arm movement, Biological Cybernetics, issue.2, pp.101-117, 1973.

. Van-beers, The Role of Execution Noise in Movement Variability, Journal of Neurophysiology, vol.91, issue.2, pp.1050-1063, 2004.
DOI : 10.1152/jn.00652.2003

. Viviani, ]. P. Flash, T. Viviani, and . Flash, Minimum-jerk, two-thirds power law, and isochrony: converging approaches to movement planning., Journal of Experimental Psychology: Human Perception and Performance, vol.21, issue.1, pp.32-53, 1995.
DOI : 10.1037/0096-1523.21.1.32

. Viviani, . P. Stucchi, N. Viviani, and . Stucchi, Biological movements look uniform: Evidence of motor-perceptual interactions., Journal of Experimental Psychology: Human Perception and Performance, vol.18, issue.3, pp.603-626, 1992.
DOI : 10.1037/0096-1523.18.3.603

T. Viviani, C. Viviani, and . Terzuolo, Trajectory determines movement dynamics, Neuroscience, vol.7, issue.2, pp.431-437, 1982.
DOI : 10.1016/0306-4522(82)90277-9

]. P. Viviani-]-r and . Woodworth, Common Mechanisms in Perception and Action : Attention and Performance, volume XIX, chapter Motor competence in the perception of dynamic events : a tutorial Accuracy of voluntary movement, Psychological Review, Monograph Supplement, issue.3, pp.406-4431, 1899.

[. , H. Robles-de-la-torre, and V. Hayward, Force can overcome object geometry in the perception of shape through active touch, Nature, issue.6845, pp.412445-412453, 2001.

. Salisbury, Haptic rendering, Proceedings of the 1995 symposium on Interactive 3D graphics , SI3D '95, pp.123-130, 1995.
DOI : 10.1145/199404.199426

. Sampaio, Brain plasticity: ???visual??? acuity of blind persons via the tongue, Brain Research, vol.908, issue.2, pp.204-207, 2001.
DOI : 10.1016/S0006-8993(01)02667-1

. Sato, Space interface device for artificial reality??????SPIDAR, Systems and Computers in Japan, vol.17, issue.12, pp.44-54, 1992.
DOI : 10.1002/scj.4690231204

]. C. Sherrick, Touch as a communicative sense: Introduction, The Journal of the Acoustical Society of America, vol.77, issue.1, pp.218-227, 1985.
DOI : 10.1121/1.392261

. Shimojo, Human shape recognition performance for 3d tactile display, Systems, Man, and Cybernetics IEEE International Conference on, pp.3192-3197, 1997.

B. A. Srinivasan, C. Srinivasan, and . Basdogan, Haptics in virtual environments: Taxonomy, research status, and challenges, Haptic Displays in Virtual Environments and Computer Graphics in Korea, pp.393-404, 1997.
DOI : 10.1016/S0097-8493(97)00030-7

K. Suzuki, M. Suzuki, and . Kobayashi, Air jet driven force feedback in virtual reality, IEEE Computer Graphics and Applications, vol.25, issue.1, pp.44-47, 2005.
DOI : 10.1109/MCG.2005.1

]. D. Swanson and W. J. Book, Path-following control for dissipative passive haptic displays, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings., pp.101-108, 2003.
DOI : 10.1109/HAPTIC.2003.1191245

. Van-der-linde, The hapticmaster, a new high-performance haptic interface, Proceedings of Eurohaptics, 2002.

S. B. Zilles, J. K. Zilles, and . Salisbury, A constraint-based god-object method for haptic display, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, p.3146, 1995.
DOI : 10.1109/IROS.1995.525876

. Gillespie, The virtual teacher, ASME International Mechanical Engineering Conference and Exposition, pp.171-174, 1998.

. Gouy-pailler, A Haptic Based Interface to Ease Visually Impaired Pupils??? Inclusion in Geometry Lessons, Universal Access in Human-Computer Interaction. Applications and Services, pp.598-606, 2007.
DOI : 10.1007/978-3-540-73283-9_66

. Gregory, inTouch: interactive multiresolution modeling and 3D painting with a haptic interface, Proceedings IEEE Virtual Reality 2000 (Cat. No.00CB37048), p.45, 2000.
DOI : 10.1109/VR.2000.840362

Y. Henmi, T. Henmi, and . Yoshikawa, Virtual lesson and its application to virtual calligraphy system, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), pp.1275-1280, 1998.
DOI : 10.1109/ROBOT.1998.677278

. Hennion, Telemaque, a New Visuo-Haptic Interface for Remediation of Dysgraphic Children, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.410-419, 2005.
DOI : 10.1109/WHC.2005.125

. Hinckley, Passive real-world interface props for neurosurgical visualization, CHI '94 : Proceedings of the SIGCHI conference on Human factors in computing systems, pp.452-458, 1994.

K. J. Kenney, E. S. Kenney, and . Keeping, Mathematics of Statistics, volume Pt. 1, chapter Root Mean Square, NJ, pp.59-60, 1962.

. Krakauer, Independent learning of internal models for kinematic and dynamic control of reaching, Nature Neurosciences, vol.2, issue.11, pp.1026-1031, 1999.

. Lacquaniti, The law relating the kinematic and figural aspects of drawing movements, Acta Psychologica, vol.54, issue.1-3, pp.1-3115, 1983.
DOI : 10.1016/0001-6918(83)90027-6

. Liu, Learning to perform a new movement with robotic assistance : comparison of haptic guidance and visual demonstration, Journal of Neuroengineering and Rehabilitation, vol.3, pp.1743-000320, 2006.

. Maoz, Noise and the two-thirds power law, Advances in Neural Information Processing Systems, pp.851-858, 2006.

. Mytkowicz, Aligning traces for performance evaluation, Proceedings 20th IEEE International Parallel & Distributed Processing Symposium, p.8, 2006.
DOI : 10.1109/IPDPS.2006.1639592

]. R. Niels, Dynamic Time Warping : An intuitive way of handwriting recognition ? Master's thesis, Cognitive Science, 2004.

. Palluel-germain, A visuo-haptic device -telemaque -increases kindergarten children's handwriting acquisition, and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint, pp.72-77, 2007.

L. A. Schmidt, T. D. Schmidt, and . Lee, Motor Control and Learning : A Behavioral Emphasis, 1987.

S. M. Smyth, G. Smyth, and . Silvers, Functions of vision in the control of handwriting, Acta Psychologica, vol.65, issue.1, pp.47-64, 1987.
DOI : 10.1016/0001-6918(87)90046-1

. Solis, Teaching to write Japanese characters using a haptic interface, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002, pp.255-262, 2002.
DOI : 10.1109/HAPTIC.2002.998966

M. I. Lipshits and J. Mcintyre, Role of gravitation in solving a haptic comparison problem, Human Physiology, vol.33, issue.1, pp.120-121, 2007.
DOI : 10.1134/S0362119707010197

. Mcintyre, Reference frames and internal models for visuo-manual coordination: what can we learn from microgravity experiments?, Brain Research Reviews, vol.28, issue.1-2, pp.143-154, 1998.
DOI : 10.1016/S0165-0173(98)00034-4

C. Ortega, S. Ortega, and . Coquillart, Prop-based haptic interaction with co-location and immersion: an automotive application, IREE International Worksho on Haptic Audio Visual Environments and their Applications, 2005., 2006.
DOI : 10.1109/HAVE.2005.1545646

URL : https://hal.archives-ouvertes.fr/inria-00000962

. Ott, Improving User Comfort in Haptic Virtual Environments through Gravity Compensation, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.401-409, 2005.
DOI : 10.1109/WHC.2005.78

. Rose, Training in virtual environments: transfer to real world tasks and equivalence to real task training, Ergonomics, vol.18, issue.4, pp.494-511, 2000.
DOI : 10.1080/001401300184378

. Sato, Space interface device for artificial reality??????SPIDAR, Systems and Computers in Japan, vol.17, issue.12, pp.44-54, 1992.
DOI : 10.1002/scj.4690231204

W. A. Schmidt, C. A. Schmidt, and . Wrisberg, Motor Learning and Performance, 2000.

M. Shadmehr, F. A. Shadmehr, and . Mussa-ivaldi, Adaptive representation of dynamics during learning of a motor task, Journal of Neuroscience, vol.14, issue.5, pp.3208-3224, 1994.

. Sugano, The effects of shadow representation of virtual objects in augmented reality, The Second IEEE and ACM International Symposium on Mixed and Augmented Reality, 2003. Proceedings., p.76, 2003.
DOI : 10.1109/ISMAR.2003.1240690

. Tarrin, The Stringed Haptic Workbench: a New Haptic Workbench Solution, Computer Graphics Forum, vol.3, issue.1, pp.583-590, 2003.
DOI : 10.1109/2.391040

. Ware, Fish tank virtual reality, Proceedings of the SIGCHI conference on Human factors in computing systems , CHI '93, pp.37-42, 1993.
DOI : 10.1145/169059.169066

. Zhai, Human Action Laws in Electronic Virtual Worlds: An Empirical Study of Path Steering Performance in VR, Presence: Teleoperators and Virtual Environments, vol.13, issue.2, pp.113-127, 2004.
DOI : 10.1207/S15327051HCI172&3_4

R. Bach-y-rita, Vision substitution by tactile image projection Haptics in minimally invasive surgical simulation and training, Nature IEEE Computer Graphics and Applications, vol.221, issue.242, pp.963-456, 1969.

. Danilov, Vestibular sensory substitution using tongue electrotactile display, Human Haptic Perception : Basics and Applications, pp.467-480, 2008.
DOI : 10.1007/978-3-7643-7612-3_39

]. H. Delingette and N. Ayache, Hepatic surgery simulation, Communications of the ACM, vol.48, issue.2, pp.31-36, 2005.
DOI : 10.1145/1042091.1042116

URL : https://hal.archives-ouvertes.fr/inria-00615659

]. E. Dubois, Chirurgie augmentée : un cas de réalité augmentée ; Conception et réalisation centrées sur l'utilisateur, 2001.

. Eriksson, A haptic and virtual reality skull bone surgery simulatorA Haptic and Virtual Reality Skull Bone Surgery Simulator Bone drilling medical training system, The Sense of Touch and its Rendering, pp.245-278, 2005.

S. Berlin and /. Heidelbergfaure, SOFA : A modular yet efficient simulation framework, Surgetica 2007 : Computer-Aided Medical Interventions : tools and applications, pp.101-108, 2007.

. Forster, Redundant target effect and intersensory facilitation from visual-tactile interactions in simple reaction time, Experimental Brain Research, vol.143, issue.4, pp.480-487, 2002.
DOI : 10.1007/s00221-002-1017-9

D. P. George, R. George, and . De, Review of temporal bone dissection teaching: how it was, is and will be, The Journal of Laryngology & Otology, vol.50, issue.02, pp.1-7, 2009.
DOI : 10.1097/MLG.0b013e3181671b15

. Harada, Three-dimensional Reconstruction of the Temporal Bone From Histologic Sections, Archives of Otolaryngology - Head and Neck Surgery, vol.114, issue.10, pp.1139-1142, 1988.
DOI : 10.1001/archotol.1988.01860220073027

. Hatwell, Toucher pour connaître. Psychologie cognitive de la perception tactile manuelle, 2000.

B. Hein, M. Hein, and . Brell, conTACT - A Vibrotactile Display for Computer Aided Surgery, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), pp.531-536, 2007.
DOI : 10.1109/WHC.2007.33

]. R. Kockro and P. Y. Hwang, VIRTUAL TEMPORAL BONE, Operative Neurosurgery, vol.64, issue.5 2, pp.216-245, 2009.
DOI : 10.1227/01.NEU.0000343744.46080.91

. Lenay, Technology and perception: the contribution of sensory substitution systems, Proceedings Second International Conference on Cognitive Technology Humanizing the Information Age, pp.44-53, 1997.
DOI : 10.1109/CT.1997.617681

. Morris, Visuohaptic simulation of bone surgery for training and evaluation, IEEE Computer Graphics and Applications, vol.26, issue.6, pp.48-57, 2006.
DOI : 10.1109/MCG.2006.140

]. P. Mozer, Urologie & Gestes Médico-Chirurgicaux Assistés par Ordinateur (GMCAO), 2007.

. Nagel, Beyond sensory substitution???learning the sixth sense, Journal of Neural Engineering, vol.2, issue.4, pp.13-26, 2005.
DOI : 10.1088/1741-2560/2/4/R02

. Ng, Evaluation of a tactile display around the waist for physiological monitoring under different clinical workload conditions, 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.20081288-91, 2008.
DOI : 10.1109/IEMBS.2008.4649399

B. Paillard, D. Paillard, and . Beaubaton, Du contrôle de la motricité à l'organisation du geste, chapter De la coordination visuo-motrice à l'organisation de la saisie manuelle, pp.225-260, 1977.

. Robineau, Guiding the surgical gesture using an electro-tactile stimulus array on the tongue : A feasibility study Etude d'un dispositif de guidage de geste chirurgical de ponction par stimulation électrotactile linguale, IEEE Transactions on Biomedical Engineering, vol.54, issue.2, 2007.

W. A. Schmidt, C. A. Schmidt, and . Wrisberg, Motor Learning and Performance, 2000.

. Soler, Virtual reality and augmented reality applied to laparoscopic and notes procedures, 2008 5th IEEE International Symposium on Biomedical Imaging: From Nano to Macro, pp.1399-1402, 2008.
DOI : 10.1109/ISBI.2008.4541267

. Straub, Route guidance with a vibro-tactile waist belt, Poster/Demo at the 4th European Conference on Smart Sensing and Context Adjunct Proceedings, p.3, 2009.

. Surgicalscience and . Lapsim, Web : http ://www.surgical-science.com, 2009.

. Taylor, Computer-Integrated Surgery, Clinical Orthopaedics and Related Research, vol.354, 1995.
DOI : 10.1097/00003086-199809000-00002

. Hall, Perspectives paramètres encore flous de la littérature (type d'informations à utiliser pour contrôler ces dispositifs (cf. § 6.5), stratégie de dispense de l'information (cf. § 8.4), type de dispositifs, valeurs des gains (cf. § 6.6)) Les interactions réciproques entre la boucle perceptivo-motrice humaine et la boucle sensorimotrice machine est un vaste champ de recherche. Les questions sur la perception humaine (seuil de détection d'un stimulus, Just Noticeable Difference. . . ) et sur la perception de la machine (sensibilité des capteurs, spécifications techniques. . . ) n'ont pas été directement abordées dans notre travail. Néanmoins, cette connaissance est présentée dans l'état de l'art préliminaire (cf. § 1.1) Nous espérons que nos résultats sur les stratégies de dispense de l'information haptique et sur les différents effets observés en fonction de la nature de la tâche à réaliser, permettront d'étayer les recherches (encore trop peu nombreuses) sur une notion de « quantité d'information haptique échangée » ou sur le développement de la notion d'« entropie haptique ». La trajectoire est un moyen d'analyser le résultat des interactions entre les deux boucles sensorimotrices machine et humaine. C'est par cette petite fenêtre, derrière les persiennes de l'échantillonnage, que nous accédons aux fonctionnements sous-jacents, Ubiquitous Computing, pp.384-399, 2008.

]. C. Atkeson and J. M. Hollerbach, Kinematic features of unrestrained vertical arm movements, Références bibliographiques [Atkeson and Hollerbach, pp.2318-2330, 1985.

. Bayart, An adaptive haptic guidance software module for I-TOUCH: example through a handwriting teaching simulation and a 3D maze., IREE International Worksho on Haptic Audio Visual Environments and their Applications, 2005., p.6, 2005.
DOI : 10.1109/HAVE.2005.1545651

M. Berkelman and J. M. Berkelman, Effects of Friction Parameters on Completion Times for Sustained Planar Positioning Tasks with a Haptic Interface, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1115-1120, 2006.
DOI : 10.1109/IROS.2006.281821

. Bluteau, Haptic Guidance Improves the Visuo-Manual Tracking of Trajectories, PLoS ONE, vol.6, issue.1, p.1775, 2008.
DOI : 10.1371/journal.pone.0001775.t002

URL : https://hal.archives-ouvertes.fr/hal-00264408

. Bluteau, Short paper : Role of force-cues in path following of 3d trajectories in virtual reality. Virtual Environments, Joint Virtual Reality Conference of EGVE -ICAT -EuroVR EG Symposium Proceedings, pp.9-12, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00483617

. Bluteau, Apprendre à écrire : apports des interfaces haptiques, 2009.

. Bluteau, Character Recognition, chapter Assess spatial and kinematics features of characters : a comparison between subjective and objective measures, 2010.

]. I. Fasiello, Le rôle du mouvement dans la perception haptique, 2010.

. Feygin, Haptic guidance: experimental evaluation of a haptic training method for a perceptual motor skill, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002, pp.40-47, 2002.
DOI : 10.1109/HAPTIC.2002.998939

. Forster, Redundant target effect and intersensory facilitation from visual-tactile interactions in simple reaction time, Experimental Brain Research, vol.143, issue.4, pp.480-487, 2002.
DOI : 10.1007/s00221-002-1017-9

. Gentaz, ]. E. Hatwell, Y. Gentaz, and . Hatwell, Role of gravitational cues in the haptic perception of orientation, Perception & Psychophysics, vol.66, issue.8, pp.1278-92, 1996.
DOI : 10.3758/BF03207559

]. E. Gilet, Modélisation Bayésienne d'une boucle perception-action : application à la lecture et à l'écriture, 2009.

. Hall, Towards Haptic Performance Analysis Using K-Metrics, Haptic and Audio Interaction Design, pp.50-59, 2008.
DOI : 10.1007/978-3-540-87883-4_6

. Kammerl, ]. J. Steinbach, E. Kammerl, and . Steinbach, Deadband-based offline-coding of haptic media, Proceeding of the 16th ACM international conference on Multimedia, MM '08, pp.549-558, 2008.
DOI : 10.1145/1459359.1459432

]. M. Kawato, Internal models for motor control and trajectory planning, Current Opinion in Neurobiology, vol.9, issue.6, pp.718-727, 1999.
DOI : 10.1016/S0959-4388(99)00028-8

D. R. Lackner, P. Lackner, and . Dizio, Vestibular, Proprioceptive, and Haptic Contributions to Spatial Orientation, Annual Review of Psychology, vol.56, issue.1, pp.115-162, 2005.
DOI : 10.1146/annurev.psych.55.090902.142023

. Liu, Learning to perform a new movement with robotic assistance : comparison of haptic guidance and visual demonstration, Journal of Neuroengineering and Rehabilitation, vol.3, pp.1743-000320, 2006.

. Ott, Improving User Comfort in Haptic Virtual Environments through Gravity Compensation, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.401-409, 2005.
DOI : 10.1109/WHC.2005.78

. Palluel-germain, A visuo-haptic device -telemaque -increases kindergarten children's handwriting acquisition, and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint, pp.72-77, 2007.

. Robineau, Guiding the Surgical Gesture Using an Electro-Tactile Stimulus Array on the Tongue: A Feasibility Study, IEEE Transactions on Biomedical Engineering, vol.54, issue.4, p.54, 2007.
DOI : 10.1109/TBME.2006.889180

URL : https://hal.archives-ouvertes.fr/hal-00138571

]. F. Robineau, Etude d'un dispositif de guidage de geste chirurgical de ponction par stimulation électrotactile linguale, 2009.

M. Shadmehr, F. A. Shadmehr, and . Mussa-ivaldi, Adaptive representation of dynamics during learning of a motor task, Journal of Neuroscience, vol.14, issue.5, pp.3208-3224, 1994.

T. Srimathveeravalli, K. Srimathveeravalli, and . Thenkurussi, Motor Skill Training Assistance Using Haptic Attributes, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.452-457, 2005.
DOI : 10.1109/WHC.2005.96

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.91.6404

J. Todorov, M. I. Todorov, and . Jordan, Optimal feedback control as a theory of motor coordination, Nature Neuroscience, vol.5, issue.11, pp.1226-1261, 2002.
DOI : 10.1038/nn963

. Vazquez-buenosaires, Electro-stimulation of the tongue as a passive surgical guiding system, International Conference on Advanced Robotics, pp.638-643, 2003.
URL : https://hal.archives-ouvertes.fr/hal-00109073

]. D. Wolpert, Computational approaches to motor control, Trends in Cognitive Sciences, vol.1, issue.6, pp.209-216, 1997.
DOI : 10.1016/S1364-6613(97)01070-X

Q. Avez-vous-trouvé-la-tâche-difficile-?-q2, Comment qualifieriez vous le degré de l'immersion (note de 0 à 5 -5 le meilleur) ? Pourquoi ? Q3. Qu'est ce qui vous a dérangé le plus dans cette expérience ? Q4. Avez-vous remarqué des différences entre les conditions ? Pouvez vous les décrire ? Q5. Selon vous, quels sont les buts de cette expérience ? Analyse des questionnaires Q1, Non, issue.2134, pp.31-34

. Ergonomie-du-dispositif, aspect virtuel de la configuration (6 sujets) La tension des fils