Haptic Interaction and Communication

M. Ammi, Y. Bellik, Y. Tsalamlal, P. Issartel, L. Besancon, F. Lognos, C. Julien, T. Ricordeau, A. Sallami


HAPCO (HAPtic interaction and COmmunication) investigates the role of haptic and tangible interaction for the perception of data and interpersonal communication. We can summarize our research in three main axes.


This research was carried out in collaboration with the mechanics department of the LIMSI lab. It concerns the perception, characterization and visualization of CFD data. Several haptic rendering algorithms were developed according to various constraints of CFD data (discontinuities, variation of gradient, etc.). We proposed also a complete interactive approach for the analysis and characterization of Eulerian structures in complex flows including several vortices (Digiteo Fluctus). Recently, we investigated the use of tangible interaction for the visualization of CFD Data through several tolls exploiting a full 6DoF interaction (clipping plans, particles systems, etc.). We study also a hybrid interaction approach combining the tangible mode with the tactile mode for an optimal management of 6DoF/2DoF tasks (LIMSI-INRIA thesis). These different researches were carried out in the context of regional and internal projects (Digiteo, INRIA, ASP-CNRS, AI-CNRS)


This axis investigated the role of haptics for the communication and coordination of actions of several partners during collaborative manipulation of complexes structures (molecules). This research began with several studies to understand the contributions and the limits of collaborative strategies for the manipulation of closely coupled structures. These experiments highlight different communication constraints which limit the working efficiency. Based on these results, we studied and designed different collaborative metaphors for collaborative tasks like the collaborative selection, designation of targets, synchronous manipulation of structures, and collaborative search of targets. These tools were investigated in different contexts such as CAD and games. Beyond basic communication, we investigated the role of these tools to support the interpersonal awareness and the cognitive representation of partners’ actions (FRESCO project, ANR). These different researches were carried out in the context of national and local projects (ANR, ASP-CNRS, AI-CNRS).


This axis deals with the human capacities for the communication of emotions through the haptic channel. We investigated both the kinesthetic and tactile channels. For the kinesthetic communication, we proposed an advanced analysis approaches (based on ANOVA, ACP and EM) for the characterization of haptic expressions of emotions according to several physical factors (velocity, fluidity, etc.). These haptic features were used to improve the recognition and discrimination of emotions expressed with virtual avatars. For the tactile communication, we proposed a new tactile stimulation strategy based on a thermoregulated air jet for a non-intrusive stimulation (Digiteo HumanTouch). Based on this stimulation strategy, we study how people perceive emotions with the tactile channel and how they combine these cues with the auditory information. This research was carried out with the CIAMS. Recently, we collaborated with ENSTA and CEA-LIST for the study of affective interaction with humanoid robots (IDEX HEROES). This project aims at developing a humanoid robot sensitive to the affective tactile stimulation and able to generate haptic reaction according to the emotional state of the user. Beyond the communication of emotions, we collaborate with artists for the design of a haptic interpresence platform for the real time interposal communication of emotions between two remote users (OSEO Canal Haptic project).

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LIMSI in numbers

8 Research Teams
100 Researchers
40 Technicians and Engineers
60 Doctoral Students
70 Trainees

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