2021-03791 - Post-Doctoral Research Visit F/M Novel interactive techniques
for haptics in Augmented and Virtual Reality
Level of qualifications required : PhD or equivalent
Fonction : Post-Doctoral Research Visit
About the research centre or Inria department
The Inria Rennes - Bretagne Atlantique Centre is one of Inria's eight centres
and has more than thirty research teams. The Inria Center is a major and
recognized player in the field of digital sciences. It is at the heart of a
rich R&D and innovation ecosystem: highly innovative PMEs, large industrial
groups, competitiveness clusters, research and higher education players,
laboratories of excellence, technological research institute, etc.
This PostDoc position is a joint collaboration between Inria Rennes Bretagne
Atlantique (specifically, the RAINBOW and HYBRID team) and the Skolkovo
Institute of Science and Technology (Moscow, Russia). The postdoc
researcher will stay mainly in Rennes but he or she is expected to carry out
part of the research work at Skoltech.
The RAINBOW and HYBRID teams are renowned for their work in robotics,
haptics, and virtual/augmented reality. The Skoltech team led by Dzmitry
Tsetserukou is renowned for research in wearable haptics and multi-robot
The French partners are experts in designing interaction techniques, visuo-
haptic rendering algorithms, and immersive human-robot and human-machine
interactions. On the other hand, the Russian partner has a long experience in
designing wearable and grounded haptic devices comprising different types of
hardware principles (e.g., moving tactors, electrotactile).
Candidates pre-selected by the teams will be assessed by the International
Relations Department and evaluated by scientific experts. Once the candidate
is pre-selected, she or he will be guided through the application process,
which needs to be completed by July 10. The funding is granted by Inria
International Relations Department.
Haptic feedback is an essential component of the user's immersive
experience when interacting in eXtended Reality (XR) or remote
environments. Many ways of simulating haptic sensations in virtual and
remote scenarios exist, e.g., using dedicated and actuated devices known as
force feedback or tactile interfaces 1, 2, using passive props also known
as tangible objects 3, 4, 5, or even exploiting perceptual phenomena with
cross-modal effects or sensory substitutions 6. Every approach has its
drawbacks and advantages, but none of them succeeds in reproducing, all-in-
one, the complex richness of real haptic exploration, and especially not in a
simple, cost-effective, rich, and portable manner. The challenge of
developing effective portable haptic interfaces is one of the most
researched in the fields of haptics and immersive environments, as being able
to provide compelling haptic sensations in a comfortable and easy-to-carry way
would pave the way for evolving from currently-available grounded/desktop
haptic interactions to ubiquitous/wearable ones. Other promising alternative
haptic approaches in which partners have strong background, such as
Encountered-Type Haptic Displays (ETHD) which enable free interactions or
Pseudo-Haptic Feedback (PH) which enable haptic illusions at low cost,
illustrate the wide range of possible haptic solutions that can be introduced
in XR environments.
Besides, ubiquitous haptic interfaces enable interaction with a virtual or
augmented reality system while freely exploring the environment, unimpaired
and unconstrained, e.g., interaction with XR objects while walking around
and wearing a head-mounted display. In the same way, ubiquitous haptics
enables a human operator to control a robotic system while sharing its
environment, e.g., humans exploring unknown terrain while being surrounded
by a team of drones. However, all these promising scenarios require a set
of interfaces and rendering techniques which are currently unavailable.
Popular techniques to provide rich ubiquitous haptic feedback in the
literature are through moving platforms, that can orient and/or translate on
the skin 7, pin-arrays, shearing belts and tactors 8, 9, pneumatic
jets and balloon-based systems 2, 10. These types of devices have already
been used in Virtual Reality (including by partners of the associated team
8, 9) while their application in Augmented Reality or teleoperation is
significantly rarer despite their promising features. Moreover, very few
provide more than a single type of haptic sensation, severely limiting their
rendering capabilities. This is mostly due to the fact that a wide set of
expertise is needed to design effective and compelling ubiquitous haptic
systems for eXtended Reality (XR): mechanical design, mechatronics,
embedded programming, distributed communication, haptic rendering, ergonomics,
immersive interaction techniques.
The objectives of this research work lie in the study and development of an
innovative set of perceptually-motivated haptic interfaces for immersive
interaction in Virtual and Augmented Reality.
Study multisensory haptic perception. We need to understand how to provide
multiple types of haptic sensations in a natural and effective way as well as
how to best combine them with visuo-audio stimuli, which are of course still
paramount in any human-machine interaction. To achieve this objective we will
carry out principled human subjects studies targeted at analyzing the
recognition rate of the haptic information as well as the user's comfort and
Design 3D interaction techniques. We aim to conceive human-computer
interaction techniques specifically adapted to novel haptic approaches (i.e.,
wearable, encouter-type haptic displays). Existing graphical user interfaces
(GUIs) are bound to 2D screens, and controlled via conventional inputs
(e.g., keyboard). Future haptic-enabled applications will require new UIs
and input techniques. We will re-imagine gesture-controlled UIs to exploit
fully-immersive environments. We will deliver abstracted interaction
techniques for rigorous testing via psychophysical experiments and user
studies enhancing the perceived spatio-temporal haptic accuracy.
Implement real-world applications in VR and AR. We want to show that our
haptic framework can improve a very diverse set of haptic interactions between
humans and machines. We target a scaleable framework remaining general enough
to enable its transfer to different application domains.
1 V. Hayward, O. Astley, M. Cruz-Hernandez, D. Grant, and G. Robles-De-La-
Torre. Haptic interfaces and devices. Sensor Review, 24(1):16–29, 2004.
2 C. Pacchierotti, S. Sinclair, M. Solazzi, A. Frisoli, V. Hayward, and D.
Prattichizzo. Wearable haptic systems for the fingertip and the hand:
taxonomy, review, and perspectives. IEEE Trans. Haptics, 2017.
3 M. Billinghurst, H. Kato, and I. Poupyrev. The magicbook-moving
seamlessly between reality and virtuality. IEEE Computer Graphics and
applications, 21(3):6–8, 2001.
4 A. D. Cheok, X. Yang, Z. Z. Ying, M. Billinghurst, and H. Kato. Touch-
space: Mixed reality game space based on ubiquitous, tangible, and social
computing. Personal and ubiquitous computing, 6(5-6):430–442, 2002.
5 B. Insko. Passive haptics significantly enhances virtual environments.
PhD thesis, University of North Carolina at Chapel Hill, 2001.
6 A. Lécuyer. Simulating haptic feedback using vision: A survey of
research and applications of pseudo-haptic feedback. Presence: Teleoperators
and Virtual Environments, 18(1):39–53, 2009.
7 F. Chinello, C. Pacchierotti, M. Malvezzi, and D. Prattichizzo. A three
revolute-revolute-spherical wearable fingertip cutaneous device for stiffness
rendering. IEEE Transactions on Haptics, 2017.
8 C. Pacchierotti, G. Salvietti, I. Hussain, L. Meli, and D. Prattichizzo.
The hRing: a wearable haptic device to avoid occlusions in hand tracking. In
Proc. IEEE Haptics Symposium, 2016.
9 A. Girard, M. Marchal, F. Gosselin, A. Chabrier, F. Louveau, A. Lécuyer.
Haptip: Displaying haptic shear forces at the fingertips for multi-finger
interaction in virtual environments. Frontiers in ICT, 3:6, 2016.
10 L. He, C. Xu, D. Xu, R. Brill. PneuHaptic: delivering haptic cues with
a pneumatic armband. In Proceedings of the 2015 ACM International Symposium on
Wearable Computers, pp. 47-48, 2015.
Design high-level interaction techniques for wearables and encouter-type
haptic devices in VR/AR environments.
Develop and evaluate through user studies VR and AR applications to
demonstrate the effectiveness of these haptic systems in complex
Write reports on the activities carried out.
Present the results to international conferences and meetings.
We are looking for excellent, highly-motivated researchers interested in
Mixed Reality and haptics , with a computer science background and previous
experience in computer programming (C++). Experience in using VR/AR tools
and systems (e.g., Unity 3D, ARToolkit, Oculus Rift, Hololens) is considered
Partial reimbursement of public transport costs
Leave: 7 weeks of annual leave + 10 extra days off due to RTT (statutory
reduction in working hours)
Professional equipment available (videoconferencing, loan of computer
Social, cultural and sports events and activities
Access to vocational training
Social security coverage
Monthly gross salary amounting to 2653 euros.
Theme/Domain : Interaction and visualization
Information system (BAP E)
Town/city : Rennes
Inria Center : CRI Rennes - Bretagne Atlantique
Starting date : 2021-11-01
Duration of contract : 2 years
Deadline to apply : 2021-07-31
Inria Team : RAINBOW
Pacchierotti Claudio / firstname.lastname@example.org
Inria is the French national research institute dedicated to digital science
and technology. It employs 2,600 people. Its 200 agile project teams,
generally run jointly with academic partners, include more than 3,500
scientists and engineers working to meet the challenges of digital technology,
often at the interface with other disciplines. The Institute also employs
numerous talents in over forty different professions. 900 research support
staff contribute to the preparation and development of scientific and
entrepreneurial projects that have a worldwide impact.
Instruction to apply
Please submit online : your resume, cover letter and letters of recommendation
For more information, please contact email@example.com
Defence Security :
This position is likely to be situated in a restricted area (ZRR), as
defined in Decree No. 2011-1425 relating to the protection of national
scientific and technical potential (PPST).Authorisation to enter an area is
granted by the director of the unit, following a favourable Ministerial
decision, as defined in the decree of 3 July 2012 relating to the PPST. An
unfavourable Ministerial decision in respect of a position situated in a ZRR
would result in the cancellation of the appointment.
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