7.1.1 #FIVE

• Name:
  Framework for Interactive Virtual Environments
• Keywords:
  Virtual reality, 3D, 3D interaction, Behavior modeling
• Scientific Description:
  #FIVE (Framework for Interactive Virtual Environments) is a framework for the development of interactive and collaborative virtual environments. #FIVE was developed to answer the need for an easier and a faster design and development of virtual reality applications. #FIVE provides a toolkit that simplifies the declaration of possible actions and behaviours of objects in a VE. It also provides a toolkit that facilitates the setting and the management of collaborative interactions in a VE. It is compliant with a distribution of the VE on different setups. It also proposes guidelines to efficiently create a collaborative and interactive VE. The current implementation is in C# and comes with a Unity3D engine integration, compatible with MiddleVR framework.
• Functional Description:
  #FIVE contains software modules that can be interconnected and helps in building interactive and collaborative virtual environments. The user can focus on domain-specific aspects for his/her application (industrial training, medical training, etc) thanks to #FIVE's modules. These modules can be used in a vast range of domains using virtual reality applications and requiring interactive environments and collaboration, such as in training for example.
• URL:
  https://­bil.­inria.­fr/­fr/­software/­view/­2527/­tab
• Publication:
  hal-01147734
• Contact:
  Valerie Gouranton
• Participants:
  Florian Nouviale, Valerie Gouranton, Bruno Arnaldi, Vincent Goupil, Carl-Johan Jorgensen, Emeric Goga, Adrien Reuzeau, Alexandre Audinot

7.1.2 #SEVEN

• Name:
  Sensor Effector Based Scenarios Model for Driving Collaborative Virtual Environments
• Keywords:
  Virtual reality, Interactive Scenarios, 3D interaction
• Scientific Description:
  #SEVEN (Sensor Effector Based Scenarios Model for Driving Collaborative Virtual Environments) is a model and an engine based on petri nets extended with sensors and effectors, enabling the description and execution of complex and interactive scenarios
• Functional Description:
  #SEVEN enables the execution of complex scenarios for driving Virtual Reality applications. #SEVEN's scenarios are based on enhanced Petri net and state machine models which is able to describe and solve intricate event sequences. #SEVEN comes with an editor for creating, editing and remotely controlling and running scenarios. #SEVEN is implemented in C# and can be used as a stand-alone application or as a library. An integration to the Unity3D engine, compatible with MiddleVR, also exists.
• Release Contributions:
  Adding state machine handling for scenario description in addition to the already existing petri net format. Improved scenario editor
• URL:
  https://­bil.­inria.­fr/­fr/­software/­view/­2528/­tab
• Publications:
  hal-01147733, hal-01199738, tel-01419698, hal-01086237
• Contact:
  Valerie Gouranton
• Participants:
  Florian Nouviale, Valerie Gouranton, Bruno Arnaldi, Vincent Goupil, Emeric Goga, Carl-Johan Jorgensen, Adrien Reuzeau, Alexandre Audinot

7.1.3 OpenVIBE

• Keywords:
  Neurosciences, Interaction, Virtual reality, Health, Real time, Neurofeedback, Brain-Computer Interface, EEG, 3D interaction
• Functional Description:
  OpenViBE is a free and open-source software platform devoted to the design, test and use of Brain-Computer Interfaces (BCI). The platform consists of a set of software modules that can be integrated easily and efficiently to design BCI applications. The key features of OpenViBE software are its modularity, its high performance, its portability, its multiple-user facilities and its connection with high-end/VR displays. The designer of the platform enables users to build complete scenarios based on existing software modules using a dedicated graphical language and a simple Graphical User Interface (GUI). This software is available on the Inria Forge under the terms of the AGPL licence, and it was officially released in June 2009. Since then, the OpenViBE software has already been downloaded more than 60000 times, and it is used by numerous laboratories, projects, or individuals worldwide. More information, downloads, tutorials, videos, documentations are available on the OpenViBE website.
• Release Contributions:

  Python2 support dropped in favour of Python3 New feature boxes: - Riemannian geometry - Multimodal Graz visualisation - Artefact detection - Features selection - Stimulation validator

  Support for Ubuntu 18.04 Support for Fedora 31

  Contributions: - Encephalan driver: Alexey Minin from (UrFU) - GTec Unicorn driver: Anton Andreev (Gipsa-Lab) - Box pybox-manager: Jimmy Leblanc & Yannis Bendi-Ouis (Polymont ITS)

• News of the Year:

  Python2 support dropped in favour of Python3 New feature boxes: - Riemannian geometry - Multimodal Graz visualisation - Artefact detection - Features selection - Stimulation validator

  Support for Ubuntu 18.04 Support for Fedora 31

• URL:
  http://­openvibe.­inria.­fr
• Contact:
  Anatole Lecuyer
• Participants:
  Cedric Riou, Thierry Gaugry, Anatole Lecuyer, Fabien Lotte, Jussi Tapio Lindgren, Laurent Bougrain, Maureen Clerc, Théodore Papadopoulo
• Partners:
  INSERM, GIPSA-Lab

7.2.1 Immerstar

Participants: Florian Nouviale, Ronan Gaugne.

URL: Immersia website

With the two virtual reality technological platforms Immersia and Immermove, grouped under the name Immerstar, the team has access to high-level scientific facilities. This equipment benefits the research teams of the center and has allowed them to extend their local, national and international collaborations. The Immerstar platform was granted by a CPER-Inria funding for the 2015-2019 period which had enabled several important evolutions. In particular, in 2018, a haptic system covering the entire volume of the Immersia platform was installed, allowing various configurations from single haptic device usage to dual haptic devices usage with either one or two users. In addition, a motion platform designed to introduce motion feedback for powered wheelchair simulations has also been incorporated (see Figure 2).

We celebrated the twentieth anniversary of the Immersia platform in November 2019 by inaugurating the new haptic equipment. We proposed scientific presentations and received 150 participants, and visits for the support services in which we received 50 persons.

Based on these support, in 2020, we participated to a PIA3-Equipex+ proposal that obtained a funding in 2021. This proposal CONTINUUM involves 22 partner, has been succesfully evaluated and will be granted. The CONTINUUM project will create a collaborative research infrastructure of 30 platforms located throughout France, to advance interdisciplinary research based on interaction between computer science and the human and social sciences. Thanks to CONTINUUM, 37 research teams will develop cutting-edge research programs focusing on visualization, immersion, interaction and collaboration, as well as on human perception, cognition and behaviour in virtual/augmented reality, with potential impact on societal issues. CONTINUUM enables a paradigm shift in the way we perceive, interact, and collaborate with complex digital data and digital worlds by putting humans at the center of the data processing workflows. The project will empower scientists, engineers and industry users with a highly interconnected network of high-performance visualization and immersive platforms to observe, manipulate, understand and share digital data, real-time multi-scale simulations, and virtual or augmented experiences. All platforms will feature facilities for remote collaboration with other platforms, as well as mobile equipment that can be lent to users to facilitate onboarding.

The Immerstar platform is involved in a new National Research Infrastructure since the end of 2021. This new research infrastructure gathers the main platforms of CONTINUUM.

Immerstar is also involved in EUR Digisport led by University of Rennes 2 and PIA4 DemoES AIR led by University of Rennes 1.

Immersia platform: (Left) “Scale-One” Haptic system for one or two users. (Right) Motion platform for a powered wheelchair simulation.

8.1.1 Towards “Avatar-Friendly” 3D Manipulation Techniques: Bridging the Gap Between Sense of Embodiment and Interaction in Virtual Reality

Participants: Diane Dewez, Ferran Argelaguet, Anatole Lécuyer.

Avatars, the users' virtual representations, are becoming ubiquitous in virtual reality applications. In this context, the avatar becomes the medium which enables users to manipulate objects in the virtual environment (see Figure 3). It also becomes the users' main spatial reference, which can not only alter their interaction with the virtual environment, but also the perception of themselves. In this work 34, we review and analyse the current state-of-the-art for 3D object manipulation and the sense of embodiment. Our analysis is twofold. First, we discuss the impact that the avatar can have on object manipulation. Second, we discuss how the different components of a manipulation technique (i.e. input, control and feedback) can influence the user's sense of embodiment. Throughout the analysis, we crystallise our discussion with practical guidelines for VR application designers and we propose several research topics towards “avatar-friendly” manipulation techniques.

This work was done in collaboration with the MimeTIC.

8.1.2 Understanding, Modeling and Simulating Unintended Positional Drift during Repetitive Steering Navigation Tasks in Virtual Reality

Participants: Hugo Brument, Ferran Argelaguet.

Virtual steering techniques enable users to navigate in larger Virtual Environments (VEs) than the physical workspace available. Even though these techniques do not require physical movement of the users (e.g. using a joystick and the head orientation to steer towards a virtual direction), recent work observed that users might unintentionally move in the physical workspace while navigating, resulting in Unintended Positional Drift (UPD). This phenomenon can be a safety issue since users may unintentionally reach the physical boundaries of the workspace while using a steering technique. In this context, as a necessary first step to improve the design of navigation techniques minimizing the UPD, this work aims at analyzing and modeling the UPD during a virtual navigation task 17. In particular, we characterize and analyze the UPD for a dataset containing the positions and orientations of eighteen users performing a virtual slalom task using virtual steering techniques. Participants wore a head-mounted display and had to follow three different sinusoidal-like trajectories (with low, medium and high curvature) using a torso-steering navigation technique. We analyzed the performed motions and proposed two UPD models: the first based on a linear regression analysis and the second based on a Gaussian Mixture Model (GMM) analysis. Then, we assessed both models through a simulation-based evaluation where we reproduced the same navigation task using virtual agents. Our results indicate the feasibility of using simulation-based evaluations to study UPD. The work concludes with a discussion of potential applications of the results in order to gain a better understanding of UPD during steering and therefore improve the design of navigation techniques by compensating for UPD.

This work was done in collaboration with the MimeTIC and Rainbow teams, and also the University Central Florida.

8.1.3 Studying the Influence of Translational and Rotational Motion on the Perception of Rotation Gains in Virtual Environments

Participants: Hugo Brument, Ferran Argelaguet.

Rotation gains in Virtual Reality (VR) enable the exploration of wider Virtual Environments (VEs) compared to the workspace users have in VR setups. The perception of these gains has been consequently explored through multiple experimental conditions in order to improve redirected navigation techniques. While most of the studies consider rotations, in which participants can rotate at the pace they desire but without translational motion, we have no information about the potential impact of the translational and rotational motions on the perception of rotation gains. In this work 33, we estimated the influence of these motions and compared the perceptual thresholds of rotations gains through a user study ($n=14$), in which participants had to perform virtual rotation tasks at a constant rotation speed (see Figure 4). Participants had to determine whether their virtual rotation speed was faster or slower than their real one. We varied the translational optical flow (static or forward motion), the rotational speed (20, 30, or 40 deg/s), and the rotational gain (from 0.5 to 1.5). The main results are that the rotation gains are less perceivable at lower rotation speeds and that translational motion makes detection more difficult at lower rotation speeds. Furthermore, the work provides insights into the user's gaze and body motions behaviour when exposed to rotation gains. These results contribute to the understanding of the perception of rotation gains in VEs and they are discussed to improve the implementation of rotation gains in redirection techniques.

Left - User wearing the HTC Vive Pro Eye HMD equipped with a wireless module, one HTC Vive tracker located at the pelvis and one HTC Vive controller. Right - User's point of view of the VE during the experiment. The black arrow indicates the direction of the turn. The sight and pink sphere were used for calibration purposes).

This work was done in collaboration with the MimeTIC team.

8.1.4 VR based Power Wheelchair Simulator: Usability Evaluation through a Clinically Validated Task with Regular Users

Participants: Guillaume Vailland, Florian Nouviale, Valérie Gouranton.

Power wheelchairs are one of the main solutions for people with reduced mobility to maintain or regain autonomy and a comfortable and fulfilling life. However, driving a power wheelchair in a safe way is a difficult task that often requires training methods based on real-life situations. Although these methods are widely used in occupational therapy, they are often too complex to implement and unsuitable for some people with major difficulties. In this context, we collaborated with clinicians to develop a Virtual Reality based power wheelchair simulator 40. This simulator is an innovative training tool adapted to any type of situations and impairments (see Figure 5). In this work, we present a clinical study in which 29 power wheelchair regular users were asked to complete a clinically validated task designed by clinicians within two conditions: driving in a virtual environment with our simulator and driving in real conditions with a real power wheelchair. The objective of this study is to compare performances between the two conditions and to evaluate the Quality of Experience provided by our simulator in terms of Sense of Presence and Cybersickness. Results show that participants complete the tasks in a similar amount of time for both real and virtual conditions, using respectively a real power wheelchair and our simulator. Results also show that our simulator provides a high level of Sense of Presence and provokes only slight to moderate Cybersickness discomforts resulting in a valuable Quality of Experience.

This work was done in collaboration with the Rainbow team and the Pôle Saint Hélier.

8.1.5 Cubic Bézier Local Path Planner for Non-holonomic Feasible and Comfortable Path Generation

Participants: Guillaume Vailland, Valérie Gouranton.

In a transport context like power wheelchair navigation, passenger comfort should be a priority and influences path planning strategy. For non-holonomic robot navigation, path planning algorithms such as Rapidly-exploring Random Tree (RRT) rarely provides feasible and smooth path without the need of additional processing. In this work 41, we propose a local path planner which guarantees curvature bounded value and continuous Cubic Bézier piecewise curves connections. To simulate and test this Cubic Bézier local path planner, we developed a new RRT version (CBB-RRT*) which generates on-the fly comfortable path adapted to non-holonomic constraints (see Figure 6).

This work was done in collaboration with the Rainbow team.

8.1.6 A Survey on Affective and Cognitive VR

Participants: Tiffany Luong, Ferran Argelaguet, Anatole Lécuyer.

In Virtual Reality (VR), users can be immersed in emotionally intense and cognitively engaging experiences. Yet, despite strong interest from scholars and a large amount of work associating VR and Affective and Cognitive States (ACS), there is a clear lack of structured and systematic form in which this research can be classified. We define “Affective and Cognitive VR” to relate to works which (1) induce ACS, (2) recognize ACS, or (3) exploit ACS by adapting virtual environments based on ACS measures. This survey 29 clarifies the different models of ACS, presents the methods for measuring them with their respective advantages and drawbacks in VR, and showcases Affective and Cognitive VR studies done in an immersive virtual environment (IVE) in a non-clinical context. Our article covers the main research lines in Affective and Cognitive VR. We provide a comprehensive list of references with the analysis of 63 research articles and summarize future directions (see Figure 7).

This work was done in collaboration with the IRT b<>com.

8.1.7 Training situational awareness for scrub nurses: Error recognition in a virtual operating room

Participants: Bruno Arnaldi, Valérie Gouranton.

Virtual reality simulation provides interesting opportunities to train nurses in a safe environment. While the virtual operating room has proven to be a useful training tool for technical skills, it has been less studied for non-technical skills. This study aimed to assess, error recognition in a virtual operating room, using a simulation scenario designed to improve situation awareness (see Figure 8). Eighteen scrub-nurse students and 8 expert scrub-nurses took part in the experiment. They were immersed in a virtual operating room and reported any errors they observed. There were nineteen errors with various degrees of severity. Measures were retrieved from logs (number of errors, time for detection, movements) and from questionnaires (situation awareness, subjective workload, anxiety and user experience). The results showed that the participants who detected most errors had a higher level of situation awareness, detected high-risk errors faster and felt more immersed in the virtual operating room than those detecting fewer errors. They also felt the workload was lighter and experienced more satisfaction. Students explored the operating room more than experts did and detected more errors, especially those with moderate risk. Debriefings confirmed that virtual simulation is acceptable to trainees and motivates them. It also provides useful and original material for debriefings 16.

This work was done in collaboration with LP3C, Rennes and LTSI, Inserm, Rennes.

8.1.8 Visual feedback improves movement illusions induced by tendon vibration after chronic stroke

Participants: Salomé Le Franc, Mélanie Cogné, Anatole Lécuyer.

Illusion of movement induced by tendon vibration is commonly used in rehabilitation and seems valuable for motor rehabilitation after stroke. The aim was to study if congruent visual cues using Virtual Reality (VR) could enhance the illusion of movement induced by tendon vibration of the wrist among participants with stroke . We included 20 chronic stroke participants. They experienced tendon vibration of their wrist inducing illusion of movement with 3 VR visual conditions: a congruent moving virtual hand (Moving condition); a static virtual hand (Static condition); or no virtual hand at all (Hidden condition). They evaluated the intensity of the illusory movement and they answered a questionnaire about their preferred condition. The Moving condition was significantly superior to the Hidden condition and to the Static condition in terms of illusion of movement (p<0.001) and the wrist's extension ($p<0.001$), and was considered the best one to increase the illusion of movement (in 70% of the participants). This study showed the interest of using congruent cues in VR in order to enhance the consistency of the illusion of movement among participants after stroke, regardless of their clinical severity.

Illustrations of the equipment (example of the positioning of a left arm with a paresis after right stroke) a-b) Installation of the vibrator. The forearm was covered with a cloth. c-d-e) Presentation of the 3 virtual visual conditions (respectively Moving, Hidden, Static condition). The arrow is not visible during the experiment. f) Protractor to measure the sensation of wrist's displacement. “-90°” signifies a maximal wrist extension for the left upper limb. The description “values of degree” and “wrist extension, wrist flexion” are not seen by the participant during the trial. g) Chronology of the trial.

8.1.9 Immersive VR neuropsychological assessment battery of everyday cognitive functions

Participants: Panagiotis Kourtesis.

The studies 22, 24 of this work examined the validity, usability, and utility of the VR Everyday Assessment Lab (VR-EAL). Clinical and research tools involving immersive VR may bring several advantages to cognitive neuroscience and neuropsychology. However, there are some technical and methodological pitfalls. The American Academy of Clinical Neuropsychology (AACN) and the National Academy of Neuropsychology (NAN) raised 8 key issues pertaining to Computerized Neuropsychological Assessment Devices. These issues pertain to: (1) the safety and effectivity; (2) the identity of the end-user; (3) the technical hardware and software features; (4) privacy and data security; (5) the psychometric properties; (6) examinee issues; (7) the use of reporting services; and (8) the reliability of the responses and results. The VR-EAL was found to be the first immersive VR neuropsychological battery with enhanced ecological validity for the assessment of everyday cognitive functions by offering a pleasant testing experience without inducing cybersickness. The VR-EAL met the criteria of the NAN and AACN, addressed the methodological pitfalls, and brought advantages for neuropsychological testing.These studies demonstrated the research and clinical utility of VR methods in cognitive neuroscience and neuropsychology.

8.1.10 An ecologically valid examination of event-based and time-based prospective memory using immersive VR

Participants: Panagiotis Kourtesis.

The studies 23, 21 of this work examined the everyday prospective memory ability and functioning. Using the VR-EAL, an immersive VR neuropsychological assessment tool, prospective memory in everyday life was examined by comparing performance on diverse prospective memory tasks (i.e., focal and non-focal event-based, and time-based tasks) and identifying the cognitive functions which predict everyday prospective memory functioning. The length of the delay between encoding and retrieving the prospective memory intention, and not the type of prospective memory task, appears to play a central role in everyday prospective memory. Also, everyday prospective memory functioning is predominantly facilitated by episodic memory, visuospatial attention, and executive functions.These findings further suggest the importance of ecological validity in the study of prospective memory, which may be achieved using immersive VR paradigms (see Figure 10).

8.2.1 Being an Avatar “for Real”: A Survey on Virtual Embodiment in Augmented Reality

Participants: Adélaïde Genay, Anatole Lécuyer.

Virtual self-avatars have been increasingly used in Augmented Reality (AR) where one can see virtual content embedded into physical space. However, little is known about the perception of self-avatars in such a context. The possibility that their embodiment could be achieved in a similar way as in Virtual Reality opens the door to numerous applications in education, communication, entertainment, or the medical field. This article aims to review the literature covering the embodiment of virtual self-avatars in AR. The aim of this work is (i) to guide readers through the different options and challenges linked to the implementation of AR embodiment systems, (ii) to provide a better understanding of AR embodiment perception by classifying the existing knowledge, and (iii) to offer insight on future research topics and trends for AR and avatar research 19. To do so, we introduce a taxonomy of virtual embodiment experiences by defining a “body avatarization” continuum. The presented knowledge suggests that the sense of embodiment evolves in the same way in AR as in other settings, but this possibility has yet to be fully investigated. We suggest that, whilst it is yet to be well understood, the embodiment of avatars has a promising future in AR and conclude by discussing possible directions for research.

This work was done in collaboration with the POTIOC team.

8.2.2 Virtual, Real or Mixed: How Surrounding Objects Influence the Sense of Embodiment in Optical See-Through Experiences?

Participants: Adélaïde Genay, Anatole Lécuyer.

Following the literature analysis, this paper studies the sense of embodiment of virtual avatars in Mixed Reality (MR) environments visualized with an Optical See-Through display 20. We investigated whether the content of the surrounding environment could impact the user's perception of their avatar, when embodied from a first-person perspective. To do so, we conducted a user study comparing the sense of embodiment toward virtual robot hands in three environment contexts which included progressive quantities of virtual content: real content only, mixed virtual/real content, and virtual content only (see Figure 11). Taken together, our results suggest that users tend to accept virtual hands as their own more easily when the environment contains both virtual and real objects (mixed context), allowing them to better merge the two “worlds”. We discuss these results and raise research questions for future work to consider.

This work was done in collaboration with the POTIOC team.

8.2.3 Needs Model for an Autonomous Agent during Long-term Simulations

Participants: Lysa Gramoli, Jérémy Lacoche, Anthony Foulonneau, Valérie Gouranton, Bruno Arnaldi.

Simulating human behavior is still a challenge. Yet, this feature is crucial to make virtual humans more believable. Therefore, many approaches have been proposed in order to find ways to faithfully simulate human behavior. One of the key features to make a virtual agent more believable is the simulation of needs such as hunger or tiredness. Unfortunately, most of the existing approaches in needs simulation do not really address the issue of long-term simulations where some problems may appear such as time drift. Yet, this kind of simulation is useful in many fields like video games or virtual data generation. In this work 43 we focus on the creation of a needs model designed for long-term simulations. According to this model, needs can evolve over several simulated days without interruption. This model is configured to obtain a proper relation between control and autonomy in order to have a coherent behavior during long periods. This work deals with the key features to set up this needs model and introduces some preliminary results to check the coherence of the agent behavior. To demonstrate our model, a smart house simulator was implemented with Unity Engine (see Fig. 12). In this simulator, the agent executes predefined actions after choosing the most accurate activity judging from the priorities of its needs. The generated virtual humans could be used to enrich augmented reality systems providing believable virtual humans.

This work was done in collaboration with Orange.

8.2.4 “Doctor, please”: Educating nurses to speak up with interactive digital simulation tablets

Participants: Bruno Arnaldi, Valérie Gouranton.

Courses are developed to train on open communication. This study focuses on speaking-up for scrub nurses. The scenario is implemented on digital tablets, with vignettes involving problematic behaviours of a colleague with the same or different status. The nurses (N = 33) were asked whether they would point out the error, whether they would be embarrassed, and how they would do it. Nurses expressed greater embarrassment with a colleague of a different status. This is confirmed by their phrasing and the strategies they reported when speaking to the surgeon. The scenario was well accepted and could be used to train other health professionals 15.

This work was done in collaboration with LP3C, Rennes and LTSI, Inserm, Rennes

8.3.1 Electrotactile Feedback For Enhancing Contact Information in Virtual Reality

Participants: Sebastian Vizcay, Panagiotis Kourtesis, Ferran Argelaguet.

In the context of the TACTILITY project, we have been exploring the use of electrotactile feedback technology to enrich VR itneractions. In this work 42 we explored how a wearable electrotactile feedback system to enhance contact information for mid-air interactions with virtual objects (see Figure 14). In particular, we propose the use of electrotactile feedback to render the interpenetration distance between the user's finger and the virtual content is touched. Our approach consists of modulating the perceived intensity (frequency and pulse width modulation) of the electrotactile stimuli according to the registered interpenetration distance. In a user study (N=21), we assessed the performance of four different interpenetration feedback approaches: electrotactile-only, visual-only, electrotactile and visual, and no interpenetration feedback. First, the results showed that contact precision and accuracy were significantly improved when using interpenetration feedback. Second, and more interestingly, there were no significant differences between visual and electrotactile feedback when the calibration was optimized and the user was familiarized with electrotactile feedback. Taken together, these results suggest that electrotactile feedback could be an efficient replacement of visual feedback for enhancing contact information in virtual reality avoiding the need of active visual focus and the rendering of additional visual artefacts.

This work was done in collaboration with the Rainbow team.

8.3.2 PUMAH: Pan-tilt Ultrasound Mid-Air Haptics

Participants: Anatole Lécuyer.

Focused ultrasound mid-air haptic interfaces are ideal for providing tactile feedback in Virtual Reality (VR), as they do not require the user to be tethered to, hold, or wear any device. Using an array of ultrasound emitters, they generate focused points of oscillating high pressure in mid-air, eliciting vibrotactile sensations when encountering a user's skin. These arrays feature a large vertical workspace, but are not capable of displaying stimuli far beyond their horizontal limits, severely limiting their workspace in the lateral dimensions. This demo presents the PUMAH 38, a low-cost 2 degrees-of-freedom robotic system rotating a focused ultrasound array around the pan and tilt axes, enabling multi-directional tactile feedback and increasing the array's workspace volume more than 14-fold.

This work was done in collaboration with the Rainbow team.

8.3.3 WeATaViX: Wearable Actuated Tangibles for Virtual Reality Experiences

Participants: Thomas Howard, Xavier de Tanguy, Anatole Lécuyer.

This demo 45 presented the WeATaViX: a wearable haptic interface for natural manipulation of tangible objects in Virtual Reality (VR). The device uses an interaction concept between encounter-type and tangible haptics, bringing a tangible object in and out of contact with a user's palm, allowing rendering of making and breaking of contact with virtual objects, as well as grasping and manipulation. The demo places the user in a virtual orchard in which they can experience the availability of tangible counterparts to any grasped interactible object in the virtual environment, as they pick and place apples, play fetch with a virtual dog and his ball, and even actuate the virtual handle of a juice machine preparing fresh virtual organic apple juice (see Figure 15).

This work was done in collaboration with the Rainbow team.

8.3.4 Capacitive Sensing for Improving Contact Rendering with Tangible Objects in VR

Participants: Xavier de Tinguy, Anatole Lécuyer.

In order to enhance the coupling between virtual and tangible surfaces, in this work we propose to combine tracking information from a tangible object instrumented with capacitive sensors and an optical tracking system 18. This system aims to improve contact rendering when interacting with tangibles in VR (see Figure 16). A human-subject study shows that combining capacitive sensing with optical tracking significantly improves the visuohaptic synchronization and immersion of the VR experience.

This work was done in collaboration with the Rainbow team.

8.3.5 “Haptics On-Demand”: A Survey on Encountered-Type Haptic Displays

Participants: Victor Rodrigo Mercado, Anatole Lécuyer.

Encountered-Type Haptic Displays (ETHDs) provide haptic feedback by positioning a tangible surface for the user to encounter. This permits users to freely eliciting haptic feedback with a surface during a virtual simulation. ETHDs differ from most of current haptic devices which rely on an actuator always in contact with the user. This work 31 intends to describe and analyze the different research efforts carried out in this field. In addition, we further analyze ETHD literature concerning definitions, history, hardware, haptic perception processes involved, interactions and applications. The work finally proposes a formal definition of ETHDs, a taxonomy for classifying hardware types, and an analysis of haptic feedback used in literature. Taken together the overview of this survey intends to encourage future work in the ETHD field.

This work was done in collaboration with the Rainbow team.

8.3.6 ENTROPiA: Towards Infinite Surface Haptic Displays in Virtual Reality Using Encountered-Type Rotating Props

Participants: Victor Rodrigo Mercado, Anatole Lécuyer.

In this work 30 we propose an approach towards an infinite surface haptic display. Our approach, named ENcountered-Type ROtating Prop Approach (ENTROPiA) is based on a cylindrical spinning prop attached to a robot's end-effector serving as an encountered-type haptic display (ETHD). This type of haptic display permits the users to have an unconstrained, free-hand contact with a surface being provided by a robotic device for the users' to encounter a surface to be touched (see Figure 17). In our approach, the sensation of touching a virtual surface is given by an interaction technique that couples with the sliding movement of the prop under the users' finger by tracking their hand location and establishing a path to be explored. This approach enables large motion for a larger surface rendering, permits to render multi-textured haptic feedback, and leverages the ETHD approach introducing large motion and sliding/friction sensations. As a part of our contribution, a proof of concept was designed for illustrating our approach. A user study was conducted to assess the perception of our approach showing a significant performance for rendering the sensation of touching a large flat surface. Our approach could be used to render large haptic surfaces in applications such as rapid prototyping for automobile design.

This work was done in collaboration with the Rainbow team.

8.3.7 Alfred: the Haptic Butler On-Demand Tangibles for Object Manipulation in Virtual Reality using an ETHD

Participants: Victor Rodrigo Mercado, Ferran Argelaguet, Anatole Lécuyer.

We present “Alfred”, a novel haptic paradigm for object manipulation in 3D immersive virtual reality (VR) 39. It uses a robotic manipulator to move tangible objects in its workspace such that they match the pose of virtual objects to be interacted with. Users can then naturally touch, grasp and manipulate a virtual object while feeling congruent and realistic haptic feedback from the tangible proxy. The tangible proxies can detach from the robot, allowing natural and unconstrained manipulation in the 3D virtual environment (VE). When a manipulated virtual object comes into contact with the virtual environment, the robotic manipulator acts as an encounter-type haptic display (ETHD), positioning itself so as to render reaction forces of the environment onto the manipulated physical object. Here, we discuss the concept for this novel approach and present a simplified prototype using a single detachable tangible proxy supported by a UR5 industrial robot. Through illustrative use-cases in VR and a preliminary performance evaluation, we discuss implications for robot control and design of interaction techniques. We show that Alfred is adaptable to a wide range of virtual environments and interaction scenarios, making it a promising approach for haptic-enabled manipulation in VR, although system latency is a limitation that still remains to be addressed.

This work was done in collaboration with the Rainbow team.

8.4.1 Influence of the visuo-proprioceptive illusion of movement and motor imagery of the wrist on EEG cortical excitability among healthy participants

Participants: Salomé Le Franc, Mélanie Cogné, Anatole Lécuyer.

Motor Imagery (MI) is a powerful tool to stimulate sensorimotor brain. The aim of this study 25 was to evaluate whether an illusion of movement induced by visuo-proprioceptive immersion (VPI) including tendon vibration (TV) and Virtual moving hand (VR) combined with MI tasks could be more efficient than VPI alone or MI alone on cortical excitability assessed using Electroencephalography (EEG). We recorded EEG signals in 20 healthy participants in 3 different conditions: MI tasks involving their non-dominant wrist (MI condition); VPI condition; and VPI with MI tasks (combined condition). Our main judgment criterion was the Event-Related De-synchronization (ERD) threshold in sensori-motor areas in each condition in the brain motor area. The combined condition induced a greater change in the ERD percentage than the MI condition alone, but no significant difference was found between the combined and the VPI condition ($p=0.07$). This study demonstrated the interest of using a visuo-proprioceptive immersion with MI rather than MI alone in order to increase excitability in motor areas of the brain.

8.4.2 The impact of Neurofeedback on effective connectivity networks in chronic stroke patients: An exploratory study

Participants: Mathis Fleury, Anatole Lécuyer.

In this work 28 we assessed the impact of EEG-fMRI Neurofeedback (NF) training on connectivity strength and direction in bilateral motor cortices in chronic stroke patients. Most of the studies using NF or brain computer interfaces for stroke rehabilitation have assessed treatment effects focusing on successful activation of targeted cortical regions. However, given the crucial role of brain network reorganization for stroke recovery, our broader aim was to assess connectivity changes after a NF training protocol targeting localised motor areas. Approach We considered changes in fMRI connectivity after a multisession EEG-fMRI NF training targeting ipsilesional motor areas in nine stroke patients. We applied the Dynamic Causal Modeling and Parametric Empirical Bayes frameworks for the estimation of directed connectivity changes. We considered a motor network including both ipsilesional and contralesional premotor, supplementary and primary motor areas. Main results Our results indicate that NF upregulation of targeted areas (ipsilesional supplementary and primary motor areas) not only modulated activation patterns, but also had a more widespread impact on fMRI bilateral motor networks. In particular, inter-hemispheric connectivity between premotor and primary motor regions decreased, and ipsilesional self-inhibitory connections were reduced in strength, indicating an increase in activation during the NF motor task. Significance To the best of our knowledge, this is the first work that investigates fMRI connectivity changes elicited by training of localized motor targets in stroke. Our results open new perspectives in the understanding of large-scale effects of NF training and the design of more effective NF strategies, based on the pathophysiology underlying stroke-induced deficits.

8.5.1 Immersive Volumetric Point Cloud Manipulation for Cultural Heritage

Participants: Rafik Drissi, Ronan Gaugne, Valérie Gouranton.

In this work we present a framework for an immersive and interactive 3D manipulation of volumetric point clouds in virtual reality35. The framework was designed to meet the needs of cultural heritage experts such as archaeologists or curators for use on cultural heritage artifacts. We propose a display infrastructure associated with a set of tools that allows users from the cultural heritage domain to interact directly with the point clouds within their study process (see Figure 18). The resulting framework allows an immersive navigation, interaction and real time segmentation.

8.5.2 Interaction with the Cagniard-Latour siren in Virtual Reality

Participants: Ronan Gaugne, Valérie Gouranton.

The siren, by Charles Cagniard de La Tour, is a 19th century acoustic measuring instrument which provided a method for evaluating the frequency of sounds. Invented in 1820, the first device was built in 1845 (see Figure 19). It produces sound by means of a mechanism based on a disc pierced with equidistant holes, actuated by a flow of air. A counter associated with the mechanism makes it possible to measure the number of revolutions of the disc. The University of Rennes 1 has such a siren in its scientific collection ((Bernard, 2018). The team for the conservation and promotion of this collection has joined the multidisciplinary research project ANR-FRQSC INTROSPECT to propose a functional digital replica of the siren, for the purpose of scientific mediation 36.

8.5.3 Perishable containers in the context of cremation: contribution of computed tomography

Participants: Ronan Gaugne.

This work provides feedback on experiences focused on the detection and identification of organic vessels used in a cremation context 26. We tested the integration of tomographic images in the excavation and recording protocols of a cinerary deposit in order to assess their contributions and challenges. The two case studies presented are dated to the Middle Bronze Age and are part of the ANR project “Introspection of archaeological material in the digital age”. The latter is interested in interactive digital introspection methods by combining computed tomography with 3D visualization technologies: virtual reality, tangible interactions and 3D printing (see Figure 20).

InterDigital

Participants: Nicolas Olivier [contact], Ferran Argelaguet [contact].

This grant started in February 2019. It supports Nicolas's Olivier CIFRE PhD program with InterDigital company on “Avatar Stylization”. This PhD is co-supervised with the MimeTIC team.

Orange Labs

Participants: Lysa Gramoli [contact], Bruno Arnaldi [contact], Valérie Gouranton [contact].

This grant started in October 2020. It supports Lysa Gramoli's CIFRE PhD program with Orange Labs company on “Simulation of autonomous agents in connected virtual environments”.

Sogea Bretagne

Participants: Vincent Goupil [contact], Bruno Arnaldi [contact], Valérie Gouranton [contact].

This grant started in October 2020. It supports Vincent Goupil's CIFRE PhD program with Sogea Bretagne company on “Hospital 2.0: Generation of Virtual Reality Applications by BIM Extraction”.

10.1.1 ANR-FRQSC INTROSPECT

Participants: Valérie Gouranton [contact], Bruno Arnaldi, Ronan Gaugne, Flavien Lécuyer, Adrien Reuzeau.

• Title:
  INTROSPECTion of archaeological data in the digital age
• Duration:
  Sep. 2016 - Jun. 2021
• Coordinator:
  INSA Rennes (France)
• Partners:
  • INSA Rennes (France)
  • Université Laval (Québec, Canada),
  • Inrap (France),
  • INRS ETE (Québec, Canada),
  • CNRS (France),
  • Université de Rennes 1 (France),
  • Image ET (France)
  • Musée des Abenakis (Odanak, Québec, Canada)
  • Ilôt de Palais (Québec, Canada)
  • ENS Rennes (France)
• Inria contact:
  Valérie Gouranton
• Summary:
  INTROSPECT is a multidisciplinary project funded by French ANR and “Fonds de Recherche Société et Culture” (FRQSC) from Quebec region, Canada. This international collaboration involves researchers in computer science and archeology from France and Canada : Hybrid (Inria-IRISA), CReAAH, Inrap, company Image ET, University Laval and INRS-ETE. INTROSPECT aims to develop new uses and tools for archaeologists that facilitate access to knowledge through interactive numerical introspection methods that combine computed tomography with 3D visualization technologies, such as Virtual Reality, tangible interactions and 3D printing. The scientific core of the project is the systematization of the relationship between the artefact, the archaeological context, the digital object and the virtual reconstruction of the archaeological context that represents it and its tangible double resulting from the 3D printing. This axiomatization of its innovative methods makes it possible to enhance our research on our heritage and to make use of accessible digital means of dissemination. This approach changes from traditional methods and applies to specific archaeological problems. Several case studies will be studied in various archaeological contexts on both sides of the Atlantic. Quebec museums are also partners in the project to spread the results among the general public.

10.1.2 Associate Teams in the framework of an Inria International Lab or in the framework of an Inria International Program

• FRANTIC:
  French-Russian Advanced and Novel TactIle Cyberworlds
• Partner Institution(s):
  • Inria (Rainbow and Hybrid teams), France
  • Skoltech, Russia
• Date/Duration:
  2021-2023
• Additionnal info/keywords:
  Haptics, Extended Reality, Tactile, 3D Interaction

10.1.3 Informal International Partners

• Dr. Takuji Narumi and Prof. Michitaka Hirose from University of Tokyo (Japan), on “Virtual Embodiment”
• Dr. Gerd Bruder from University of Central Florida (USA), on “Virtual Navigation”
• Prof. Gudrun Klinker from Technical University of Munich (Germany), on “Augmented Reality”

10.2.1 Visits of international scientists

10.3.1 FP7 & H2020 projects

10.3.2 Other european programs/initiatives

10.4.1 ANR

10.4.2 Inria projects

CHU Rennes Project HANDS

Participants: Mélanie Cogné [contact], Anatole Lécuyer, Salomé Le Franc.

HANDS (HAptic Neurofeedback Design for Stroke) is a 3-year project funded by the University Hospital of Rennes (CHU Rennes) for assessing the influence of the association of haptic feedback and virtual reality during Neurofeedback for improving upper limb motor function after stroke. This project covers the PhD grant of Salomé Lefranc.

INCR Project ARIADE

Participants: Mélanie Cogné [contact], Guillaume Moreau, Léa Pillette, Anatole Lécuyer.

ARIADE (Augmented Reality for Improving Navigation in Dementia) is a 3-year research project funded by the INCR (Institut des Neurosciences Cliniques de Rennes) and the CORECT of the University Hospital of Rennes for assessing the acceptability, efficacy and tolerance of visual cues administered using augmented reality for improving spatial navigation of participants with Alzheimer's disease who suffer from a topographical disorientation. This clinical project involves Hybrid, Empenn, Ecole Centrale de Nantes, and the University Hospital of Rennes (Physical and Rehabilitation Medicine Unit and Neurological Unit).

Member of the organizing committees

• Florian Nouviale, Ronan Gaugne and Valérie Gouranton : Organisation Committee of “Journées Science et Musique 2021” (Rennes, France)

Chair of conference program committees

• Ferran Argelaguet was Program chair for the conference ICAT-EGVE 2021
• Guillaume Moreau was Program chair for the journal track of IEEE ISMAR 2021

Member of the conference program committees

• Anatole Lécuyer was member of the IPC for IEEE VR Journal track 2021.
• Ferran Argelaguet was member of the IPC for IEEE ISMAR Journal track 2021, EuroXR 2021 and ACM SAP 2021.
• Valérie Gouranton was member of the IPC for ACM HUCAPP 2021
• Jean-Marie Normand was member of the IPC for IEEE VR Conference track 2021, IEEE ISMAR 2021 Journal track and SIGGRAPH Asia 2021 XR.

Reviewer

• Anatole Lécuyer was reviewer for IEEE 3DUI Contest 2021.
• Ferran Argelaguet was reviewer for IEEE ISMAR 2021, IEEE VR 2021, ACM CHI 2021, Siggraph ASIA XR, ACM SUI.
• Jean-Marie Normand was reviewer for IEEE ISMAR 2021 Conference track, IEEE VR 2021 Conference Track, Siggraph ASIA 2021 XR

11.1.1 Journal

11.1.2 Invited talks

• Anatole Lécuyer was keynote speaker for the "International Symposium on Visual Computing" 2021
• Ferran Argelaguet was keynote speaker for the User-Embodied Interaction in VR workshop and the “Congreso Español de Informática Gráfica” (Spain).

11.1.3 Leadership within the scientific community

• Anatole Lécuyer is Member of the Steering Committee of the IEEE VR Conference, and Member of the Scientific Board of INCR ("Institut des Neurosciences Cliniques de Rennes").
• Ronan Gaugne is Member of the Consortium 3D of TGIR HumaNum.
• Valérie Gouranton is Member of the Consortium 3D of TGIR HumaNum.
• Guillaume Moreau is Member of the Steering Committee of the IEEE ISMAR Conference.

11.1.4 Scientific expertise

• Ronan Gaugne is Member of the Expert Committee for the French cluster “Pôle Images et Réseaux”, and was expert for the EU I4MS project Change2Twin open calls Digital Twins Assessement and Deployement Vouchers in May and November 2021

11.1.5 Research administration

• Ferran Argelaguet is in the scientific board of the EUR Digisport since 2021.
• Ronan Gaugne is an elected member of the IRISA laboratory council since 2013
• Valérie Gouranton is Head of cross-cutting Axis “Art, Heritage & Culture” at IRISA UMR 6074, elected member of the IRISA laboratory council and she is a member of the Conseil National des Universités 27th section (computer science).
• Guillaume Moreau is Deputy Dean for Research and Innovation at IMT Atlantique since Dec. 2020

11.2.1 Teaching

Anatole Lécuyer:

• Master AI-ViC: “Haptic Interaction and Brain-Computer Interfaces”, 6h, M2, Ecole Polytechnique, FR
• Master MNRV: “Haptic Interaction”, 9h, M2, ENSAM, Laval, FR
• Master SIBM: “Haptic and Brain-Computer Interfaces”, 4.5h, M2, University of Rennes 1, FR
• Master CN: “Haptic Interaction and Brain-Computer Interfaces”, 9h, M1 and M2, University of Rennes 2, FR
• Master SIF: “Pseudo-Haptics and Brain-Computer Interfaces”, 6h, M2, INSA Rennes, FR

Bruno Arnaldi:

• Master SIF: “VRI: Virtual Reality and Multi-Sensory Interaction Course”, 4h, M2, INSA Rennes, FR
• Master INSA Rennes: “CG: Computer Graphics”, 12h, M2, INSA Rennes, FR
• Master INSA Rennes: “Virtual Reality”, courses 6h, projects 16h, M1 and M2, INSA Rennes, FR
• Master INSA Rennes: Projects on “Virtual Reality”, 50h, M1, INSA Rennes, FR

Ferran Argelaguet:

• Master STS Informatique: “Techniques d'Interaction Avancées”, 26h, M2, ISTIC, University of Rennes 1, FR
• Master SIF: “Virtual Reality and Multi-Sensory Interaction”, 8h, M2, INSA Rennes, FR
• Master SIF: “Data Mining and Visualization”, 2h, M2, University of Rennes 1, FR
• Master AI-ViC: “Virtual Reality and 3D Interaction”, 3h, M2, École Polytechnique, FR

Valérie Gouranton:

• Licence: Project on “Virtual Reality”, 16h, L3 and responsible of this lecture, INSA Rennes, FR
• Master INSA Rennes: “Virtual Reality”, 13h, M2, INSA Rennes, FR
• Master INSA Rennes: Projects on “Virtual Reality”, 50h, M1, INSA Rennes, FR
• Master CN: “Virtual Reality”, 5h, M1, University of Rennes 2, FR

Ronan Gaugne:

• INSA Rennes: Projects on “Virtual Reality”, 24h, L3, Insa Rennes, FR
• Master Digital Creation: “Virtual Reality”, 6h, M1, University of Rennes 2, FR

Guillaume Moreau:

• Virtual Reality Major, “C++ Programming for VR”, 30h, M1/M2, École Centrale de Nantes, FR
• Virtual Reality Major, “Fundamentals of Virtual Reality”, 6h, M1/M2, École Centrale de Nantes, FR
• Virtual Reality Major, “Computer Graphics”, 4h, M1/M2, École Centrale de Nantes, FR
• Virtual Reality Major, “Advanced Software Development”, 20h, M1/M2, École Centrale de Nantes, FR
• Computer Science Major, “Discrete Mathematics”, 10h, M1/M2, École Centrale de Nantes, FR

Jean-Marie Normand:

• Virtual Reality Major, “Computer Graphics”, 24h, M1/M2, École Centrale de Nantes, FR
• Virtual Reality Major, “Fundamentals of Virtual Reality”, 14h, M1/M2, École Centrale de Nantes, FR
• Virtual Reality Major, “Computer Vision and Augmented Reality”, 26h, M1/M2, École Centrale de Nantes, FR
• Virtual Reality Major, “Advanced Concepts in VR/AR”, 24h, M1/M2, École Centrale de Nantes, FR
• Virtual Reality Major, “Projects on Virtual Reality”, 20h, M1/M2, École Centrale de Nantes, FR
• Computer Science major, “Object-Oriented Programming in Java”, 30h, M1/M2, École Centrale de Nantes, FR
• Computer Science major, “Web Programming”, 24h, M1/M2, École Centrale de Nantes, FR

11.2.2 Supervision

• PhD: Tiffany Luong, "Affective VR: acquisition, modelling, and exploitation of affective states in virtual reality", Defended 10th February 2021, Supervised by Anatole Lécuyer, Nicolas Martin (b<>com), Ferran Argelaguet.
• PhD: Mathis Fleury, "Neurofeedback based on fMRI and EEG", Defended 26th February 2021, Supervised by Anatole Lécuyer and Christian Barillot (Empenn, Inria)
• PhD: Victor Rodrigo Mercado Garcia, "Encountered-type haptics", Defended 16th November 2021, Supervised by Anatole Lécuyer
• PhD: Diane Dewez, "Avatar-Based Interaction in Virtual Reality", Defended 29th November 2021, Supervised by Anatole Lécuyer, Ferran Argelaguet and Ludovic Hoyet (MimeTIC, Inria)
• PhD: Hugo Brument, "Towards user-adapted interaction techniques based on human locomotion laws for navigating in virtual environments", Defended 3rd December 2021, Supervised by Ferran Argelaguet, Maud Marchal (Rainbow, Inria) and Anne-Hélène Olivier (MimeTIC, Inria)
• PhD: Guillaume Vailland, “Outdoor wheelchair assisted navigation: reality versus virtuality”, Defended 14th December 2021, Supervised by Valérie Gouranton and Marie Babel (Rainbow, Inria)
• PhD in progress: Nicolas Olivier “Avatar stylization”, Started in January 2018. Supervised by Franck Multon (MimeTIC team) and Ferran Argelaguet
• PhD in progress: Gwendal Fouché, “Immersive Interaction and Visualization of Temporal 3D Data”, Started in October 2019, Supervised by Ferran Argelaguet, Charles Kervrann (Serpico Team) and Emmanuelle Faure (Mosaic Team).
• PhD in progress: Adélaïde Genay, “Embodiment in Augmented Reality”, Started in October 2019, Supervised by Anatole Lécuyer, Martin Hachet (Potioc, Inria)
• PhD in progress: Martin Guy, “Physiological markers for characterizing virtual embodiment”, Started in October 2019, Supervised by Guillaume Moreau, Jean-Marie Normand (ECN) and Camille Jeunet (CNRS, CLEE)
• PhD in progress: Grégoire Richard, “Touching Avatars: The role of haptic feedback in virtual embodiment”, Started in October 2019, Supervised by Géry Casiez (Loki, Inria), Thomas Pietzrak (Loki, Inria), Anatole Lécuyer and Ferran Argelaguet
• PhD in progress: Sebastian Vizcay, “Dexterous Interaction in Virtual Reality using High-Density Electrotactile Feedback”, Started in November 2019, Supervised by Ferran Argelaguet, Maud Marchal and Claudio Pacchierotti (Rainbow, Inria) .
• PhD in progress: Salomé Le Franc, “Haptic Neurofeedback Design for Stroke”, Started in January 2019, Supervised by Anatole Lécuyer, Isabelle Bonan (CHU Rennes) and Mélanie Cogné.
• PhD in progress: Lysa Gramoli, “Simulation of autonomous agents in connected virtual environments”, Started in October 2020, Supervised by Valérie Gouranton, Bruno Arnaldi, Jérémy Lacoche (Orange), Anthony Foulonneau (Orange).
• PhD in progress: Vincent Goupil, “Hospital 2.0: Generation of Virtual Reality Applications by BIM Extraction”, Started in October 2020, Supervised by Valérie Gouranton, Bruno Arnaldi, Anne-Solène Michaud (Vinci Construction).
• PhD in progress: Gabriela Herrera “Neurofeefdback based on VR and haptics”, Started in January 2021. Supervised by Laurent Bougrain (LORIA), Stéphanie Fleck (Univ. Lorraine), and Anatole Lécuyer.
• PhD in progress: Maé Mavromatis, “Towards « Avatar-Friendly » Characterization of VR Interaction Methods”, Started in October 2021, Supervised by Anatole Lécuyer, Ferran Argelaguet and Ludovic Hoyet (MimeTIC, Inria)
• PhD in progress: Antonin Cheymol, “Body-based Interfaces in Mixed Reality for Urban Applications”, Started in November 2021, Supervised by Anatole Lécuyer, Ferran Argelaguet, Jean-Marie Normand (ECN) and Rebecca Fribourg (ECN).
• PhD in progress: Yann Moullec, “Walking Sensations in VR”, Started in October 2021, Supervised by Anatole Lécuyer and Mélanie Cogné.
• PhD in progress: Emilie Hummel, “Rehabilitation post-Cancer based on VR”, Started in October 2021, Supervised by Anatole Lécuyer, Valérie Gouranton and Mélanie Cogné.
• PhD in progress: Antoine Cellier, “Wheelchair Simulation and Design in VR”, Started in October 2021, Supervised by Valérie Gouranton and Marie Babel (Rainbow, Inria).

11.2.3 Juries

• Anatole Lécuyer was Rapporteur for the PhD Theses of Oscar Ariza (Univ. Hamburg) and Tania Johnston (Univ. Barcelona), Examiner for the PhD Thesis of Fabien Boucaud (UTC) and HDR Thesis of Marc Macé (IRIT), and President for the PhD Thesis of Charles Mille (ENSAM). Anatole Lécuyer was Member of Selection Committees for : Full Professor Position at Univ. Saclay, and Associate Professor at ENSAM Laval.
• Ferran Argelaguet was Referee for the PhD Theses of Mickaël Sereno and Yiran Zhang, and external reviewer for the PhD Thesis of Alejandros Rios.
• Bruno Arnaldi was President for the PhD Thesis of Victor Mercado (IRISA/Inria Rennes), Alexis Souchet (Univ. Paris 8), Antonin Bernardin (IRISA/Inria Rennes) and Rapporteur for the HDR Thesis of David Panzoli (IRIT) and Laure Leroy (Univ. Paris 8).
• Valérie Gouranton was Referee for the PhD Thesis of Mehdi Hafsia and Vincent Reynaert.
• Guillaume Moreau was President and Referee for the PhD Thesis of Hugo Brument (Inria).
• Jean-Marie Normand was Member of Selection Committee for Associate Professor at ENSAM Laval.

11.3.1 Articles and Media appearances

• WebTV: “Le Blob - Cité des Sciences”: Anatole Lécuyer, Valérie Gouranton, Ronan Gaugne, FLorian Nouviale (June)
• WebTV: “L'esprit sorcier”: Anatole Lécuyer (October)
• Journal: “Epsiloon”: Guillaume Moreau, Anatole Lécuyer (November)
• Radio: “France Culture - La méthode scientifique”: Guillaume Moreau (November)
• Newspaper: “20 Minutes”: Guillaume Moreau, Anatole Lécuyer (November)
• Journal: “Bikini” : Guillaume Moreau, Anatole Lécuyer (November)
• Newspaper: “Ouest-France”: Mélanie Cogné (November)
• Website: “Infirmiers.com”: Mélanie Cogné (November)
• Journal: “Sciences et Avenir”: Anatole Lécuyer (December)
• Radio: “Radio Laser”: Bruno Arnaldi (December)

11.3.2 Education

• “L'essentiel sur la réalité virtuelle”: on-line series of articles on virtual reality on Inria website, Anatole Lécuyer, Valérie Gouranton, Ronan Gaugne (November)

11.3.3 Interventions

• Webinar “TACTILTY: Natural Electro-tactile feedback for immersive virtual reality: Ferran Argelaguet (February)
• Presentation at “TedX Rennes”: Anatole Lécuyer (September)
• Presentation and Demos “Journées Européennes du Patrimoine”: Valérie Gouranton, Ronan Gaugne, Florian Nouviale (October)
• Presentation at “MK2 Bibliothèque Cinema theater”: Anatole Lécuyer (November)
• Webinar from “Agence Régionale de Santé”: Mélanie Cogné (November)
• Webinar from “Gref : GIP Relation Emploi-Formation - Training from Real to Virtual”: Bruno Arnaldi, Valérie Gouranton (december)

International journals

• 15 articleM.-S.Marie-Stéphanie Bracq, E.Estelle Michinov, M. L.Marie Le Duff, B.Bruno Arnaldi, V.Valérie Gouranton and P.Pierre Jannin. “Doctor, please”: Educating nurses to speak up with interactive digital simulation tablets..Clinical Simulation in Nursing54May 2021, 97-104
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• 16 articleM.-S.Marie-Stéphanie Bracq, E.Estelle Michinov, M.Marie Le Duff, B.Bruno Arnaldi, V.Valérie Gouranton and P.Pierre Jannin. Training situational awareness for scrub nurses: Error recognition in a virtual operating room.Nurse Education in Practice53May 2021, 1-10
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• 17 articleH.Hugo Brument, G.Gerd Bruder, M.Maud Marchal, A.-H.Anne-Hélène Olivier and F.Ferran Argelaguet Sanz. Understanding, Modeling and Simulating Unintended Positional Drift during Repetitive Steering Navigation Tasks in Virtual Reality.IEEE Transactions on Visualization and Computer Graphics2711November 2021, 4300-4310
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• 18 articleX.Xavier De Tinguy, C.Claudio Pacchierotti, A.Anatole Lécuyer and M.Maud Marchal. Capacitive Sensing for Improving Contact Rendering with Tangible Objects in VR.IEEE Transactions on Visualization and Computer Graphics274April 2021, 2481-2487
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• 19 articleA.Adélaïde Genay, A.Anatole Lécuyer and M.Martin Hachet. Being an Avatar "for Real": a Survey on Virtual Embodiment in Augmented Reality.IEEE Transactions on Visualization and Computer Graphics2021, 1 - 20
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• 20 articleA.Adélaïde Genay, A.Anatole Lécuyer and M.Martin Hachet. Virtual, Real or Mixed: How Surrounding Objects Influence the Sense of Embodiment in Optical See-Through Experiences?Frontiers in Virtual Reality2June 2021, 1-15
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• 21 articleP.Panagiotis Kourtesis, S.Simona Collina, L. A.Leonidas A. A. Doumas and S. E.Sarah E. MacPherson. An ecologically valid examination of event-based and time-based prospective memory using immersive virtual reality: the effects of delay and task type on everyday prospective memory.Memory294April 2021, 486-506
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• 22 articleP.Panagiotis Kourtesis, S.Simona Collina, L. .Leonidas A.A. Doumas and S. E.Sarah E MacPherson. Validation of the Virtual Reality Everyday Assessment Lab (VR-EAL): An immersive virtual reality neuropsychological battery with enhanced ecological validity.Journal of the International Neuropsychological Society272February 2021, 181-196
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• 23 articleP.Panagiotis Kourtesis and S. E.Sarah E MacPherson. An ecologically valid examination of event-based and time-based prospective memory using immersive virtual reality: The influence of attention, memory, and executive function processes on real-world prospective memory.Neuropsychological RehabilitationDecember 2021, 1-26
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• 24 articleP.Panagiotis Kourtesis and S. E.Sarah E MacPherson. How immersive virtual reality methods may meet the criteria of the National Academy of Neuropsychology and American Academy of Clinical Neuropsychology: A software review of the Virtual Reality Everyday Assessment Lab (VR-EAL).Computers in Human Behavior Reports4August 2021, 1-14
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• 25 articleS.Salomé Le Franc, M.Mathis Fleury, C.Camille Jeunet, S.Simon Butet, C.Christian Barillot, I.Isabelle Bonan, M.Mé Lanie Cogné and A.Anatole Lé Cuyer. Influence of the visuo-proprioceptive illusion of movement and motor imagery of the wrist on EEG cortical excitability among healthy participants.PLoS ONE1692021, 1-19
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• 26 articleI.Isabelle Le Goff, M.Myriam Texier-Le Puil, T.Théophane Nicolas, J.-B.Jean-Baptiste Barreau and R.Ronan Gaugne. Perishable containers in the context of cremation: contribution of computed tomography.Bulletin de l'Association pour la Promotion des Recherches sur l'Âge du Bronze19January 2021, 1-5
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• 27 articleA.Anatole Lécuyer, S.Salomé Le Franc, I.Isabelle Bonan, M.Mathis Fleury, S.Simon Butet, C.Christian Barillot and M.Mélanie Cogné. Visual feedback improves movement illusions induced by tendon vibration after chronic stroke.Journal of NeuroEngineering and Rehabilitation181December 2021, 156
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• 28 articleG.Giulia Lioi, A.Adolfo Veliz, J.Julie Coloigner, Q.Quentin Duché, S.Simon Butet, M.Mathis Fleury, E.Emilie Leveque-Le Bars, E.Elise Bannier, A.Anatole Lécuyer, C.Christian Barillot and I.Isabelle Bonan. The impact of Neurofeedback on effective connectivity networks in chronic stroke patients: an exploratory study.Journal of Neural Engineering185September 2021, 056052
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• 29 articleT.Tiffany Luong, A.Anatole Lécuyer, N.Nicolas Martin and F.Ferran Argelaguet Sanz. A Survey on Affective and Cognitive VR.IEEE Transactions on Visualization and Computer GraphicsSeptember 2021, 1-20
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• 30 articleV.Victor Mercado, M.Maud Marchal and A.Anatole Lécuyer. ENTROPiA: Towards Infinite Surface Haptic Displays in Virtual Reality Using Encountered-Type Rotating Props.IEEE Transactions on Visualization and Computer Graphics273March 2021, 2237-2243
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• 31 articleV. R.Victor Rodrigo Mercado, M.Maud Marchal and A.Anatole Lécuyer. “Haptics On-Demand”: A Survey on Encountered-Type Haptic Displays.IEEE Transactions on Haptics (ToH)143July 2021, 449-464
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• 32 articleN.Niki Panopoulou, F.Foteini Christidi, P.Panagiotis Kourtesis, P.Panagiotis Ferentinos, P.Panagiota Karampetsou, G.Georgios Tsirtsiridis, T.Thomas Theodosiou, S.Sofia Xirou, V.Vasiliki Zouvelou, I.Ioannis Evdokimidis, M.Michail Rentzos and I.Ioannis Zalonis. The association of theory of mind with language and visuospatial abilities in amyotrophic lateral sclerosis: a pilot study.Amyotrophic Lateral Sclerosis and Frontotemporal DegenerationDecember 2021, 1-8
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International peer-reviewed conferences

• 33 inproceedingsH.Hugo Brument, M.Maud Marchal, A.-H.Anne-Hélène Olivier and F.Ferran Argelaguet Sanz. Studying the Influence of Translational and Rotational Motion on the Perception of Rotation Gains in Virtual Environments.SUI 2021 - Symposium on Spatial User InteractionVirtual Event, United StatesNovember 2021, 1-12
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• 34 inproceedingsD.Diane Dewez, L.Ludovic Hoyet, A.Anatole Lécuyer and F.Ferran Argelaguet Sanz. Towards “Avatar-Friendly” 3D Manipulation Techniques: Bridging the Gap Between Sense of Embodiment and Interaction in Virtual Reality.CHI 2021 - Conference on Human Factors in Computing SystemsYokohama, JapanACMMay 2021, 1-14
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• 35 inproceedingsR.Rafik Drissi, R.Ronan Gaugne, T.Théophane Nicolas and V.Valérie Gouranton. Immersive Volumetric Point Cloud Manipulation for Cultural Heritage.ICAT-EGVE 2021 - 31th International Conference on Artificial Reality and Telexistence (ICAT 2021) and the 26th Eurographics Symposium on Virtual Environments (EGVE 2021)International Conference on Artificial Reality and Telexistence and Eurographics Symposium on Virtual EnvironmentsSankt Augustin, GermanySeptember 2021, 1-5
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• 36 inproceedingsR.Ronan Gaugne, T.Théophane Nicolas, J.Julie Priser, M.Marion Lemaire, D.Dominique Bernard, M.Meven Leblanc, J.Jim Pavan, T.Tom Roy, R.Raphael Dupont, J.Julie Ayoubi, M.-M.Marie-Marie Le Cornec and V.Valérie Gouranton. Interaction avec la sirène de Cagniard-Latour en réalité virtuelle.Humanistica. (2021). Colloque Humanistica 2021 - Recueil des résumés. Humanistica 2021, Rennes. Zenodo. https://doi.org/10.5281/zenodo.4745006Humanistica 2021 - Colloque de l'Association francophone des humanités numériquesRennes, FranceMay 2021, 1-4
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• 37 inproceedingsJ.Jiayi Hong, F.Ferran Argelaguet Sanz, A.Alain Trubuil and T.Tobias Isenberg. Design and Evaluation of Three Selection Techniques for Tightly Packed 3D Objects in Cell Lineage Specification in Botany.GI 2021 - Graphics InterfaceMississauga, CanadaMay 2021, 213--223
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• 38 inproceedingsT.Thomas Howard, G.Guillaume Gicquel, M.Maud Marchal, A.Anatole Lécuyer and C.Claudio Pacchierotti. PUMAH : Pan-tilt Ultrasound Mid-Air Haptics.WHC 2021 - IEEE World Haptics ConferenceMontréal / Virtual, CanadaJuly 2021, 1
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• 39 inproceedingsV. R.Victor Rodrigo Mercado, T.Thomas Howard, H.Hakim Si-Mohammed, F.Ferran Argelaguet Sanz and A.Anatole Lécuyer. Alfred: the Haptic Butler On-Demand Tangibles for Object Manipulation in Virtual Reality using an ETHD.WHC 2021 IEEE World Haptics ConferenceMontreal, FranceIEEEJuly 2021, 373-378
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• 40 inproceedingsG.Guillaume Vailland, L.Louise Devigne, F.François Pasteau, F.Florian Nouviale, B.Bastien Fraudet, E.Emilie Leblong, M.Marie Babel and V.Valérie Gouranton. VR based Power Wheelchair Simulator: Usability Evaluation through a Clinically Validated Task with Regular Users.VR 2021 - IEEE Conference on Virtual Reality and 3D User InterfacesLisbon, PortugalIEEEMarch 2021, 1-8
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• 41 inproceedingsG.Guillaume Vailland, V.Valérie Gouranton and M.Marie Babel. Cubic Bézier Local Path Planner for Non-holonomic Feasible and Comfortable Path Generation.ICRA 2021 - IEEE International Conference on Robotics and AutomationXian, ChinaIEEEMay 2021, 7894-7900
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• 42 inproceedingsS.Sebastian Vizcay, P.Panagiotis Kourtesis, F.Ferran Argelaguet Sanz, C.Claudio Pacchierotti and M.Maud Marchal. Electrotactile Feedback For Enhancing Contact Information in Virtual Reality.ICAT-EGVE 2021 - International Conference on Artificial Reality and Telexistence and Eurographics Symposium on Virtual EnvironmentsSankt Augustin, GermanySeptember 2021
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Conferences without proceedings

• 43 inproceedingsL.Lysa Gramoli, J.Jérémy Lacoche, A.Anthony Foulonneau, V.Valérie Gouranton and B.Bruno Arnaldi. Needs Model for an Autonomous Agent during Long-term Simulations.4th IEEE International Conference on Artificial Intelligence and Virtual Reality, AIVR - workshop MARCHTaichung, TaiwanIEEE2021, 1-5
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Doctoral dissertations and habilitation theses

• 44 thesisM.Mathis Fleury. Multimodal neurofeedback based on EEG/fMRI imaging techniques and visuo-haptic feedback for stroke rehabilitation.Université Rennes 1February 2021
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Other scientific publications

• 45 inproceedingsT.Thomas Howard, X.Xavier De Tinguy, G.Guillaume Gicquel, M.Maud Marchal, A.Anatole Lécuyer and C.Claudio Pacchierotti. WeATaViX: Wearable Actuated Tangibles for Virtual Reality Experiences.WHC 2021 - IEEE World Haptics ConferenceMontréal / Virtual, CanadaJuly 2021, 1
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