Publiée 20 juin 2026
PhD Position F/M Studying Factors Involved in the Perceived Safety of Soft Robots using Speculative Design and Virtual Reality
Inria
Villeneuve-d'Ascq, Hauts-de-France 59491, France
CDI
A propos du centre ou de la direction fonctionnelle
Created in 2008, the Inria center at the University of Lille employs 360 people, including 305 scientists in 16 research teams. Recognized for its strong involvement in the socio-economic development of the Hauts-De-France region, the Inria center at the University of Lille maintains a close relationship with large companies and SMEs. By fostering synergies between researchers and industry, Inria contributes to the transfer of skills and expertise in the field of digital technologies, and provides access to the best of European and international research for the benefit of innovation and businesses, particularly in the region.
For over 10 years, the Inria center at the University of Lille has been at the heart of Lille's university and scientific ecosystem, as well as at the heart of Frenchtech, with a technology showroom based on avenue de Bretagne in Lille, on the EuraTechnologies site of economic excellence dedicated to information and communication technologies (ICT).
Contexte et atouts du poste
The PhD candidate will join the Inria centre of the University of Lille and be part of both the LOOP and DEFROST research groups, respectively specialized in Human-Computer Interaction and Soft Robotics. Both teams are affiliated with the CRIStAL laboratory (UMR 9189) and includes professors and assistant professors of the University of Lille, as well as Inria researchers. Lille is at the northern tip of France and its metropolitan area, situated at the crossroads of northern continental Europe, is the 5th biggest in France. Loki is a dynamic and multicultural team with members coming from different countries (Germany, Canada, China, Iran, France, etc.) and communicating daily in English.
Mission confiée
This research focuses on three primary factors: how the perceived and actual risks of singularities impacts perceived safety during HRI tasks, how the predictability and legibility of robot movements affect their perception [ 5 ], and how the robot appearance (i.e., realistic animal-like or plant-like appearances) impacts users emotional responses.
We propose as a general methodology to focus on soft manipulators using 1 to 3 effectors, with 3~up to 18~degrees-of-freedom (DOFs), and a maximum amplitude of movement from 1 to 5 meters. We propose to investigate tasks inspired from manufacturing and supply chain contexts [ 6 ] in which a single human and a single robot manipulate virtual objects synchronously, for instance, to place them in targeted zones. We envision the robot movements to be predetermined animations to grab and release objects, in which we will purposefully introduce singularities depending on the experimental conditions. These animations will either be simulated through realistic physical simulation of soft structures using SOFA [ 2 ] and reproduced with models in VR to simplify integration if necessary, or produced with animation software (e.g., Blender) to simulate specific animal-like behaviors that may go beyond the capabilities of current physics-based simulators. We will adapt their speed and trajectories based on user movements to simulate interactivity.
We propose to focus on the following research questions:
Principales activités
The main activities of the PhD will consist in:
Compétences
The candidate must have (or be about to obtain) a Master's degree or equivalent in Computer Science or Human-Computer Interaction, and demonstrate a strong interest in research. We value overall creativity, independence, team spirit and communication skills. A good level of technical and scientific English is required.
We are looking for candidates with strong skills in:
• developing interactive applications, especially in VR (e.g., using Unity or Godot )
• knowledge in 3D modeling and animation (e.g., using Blender )
• knowledge in HCI and experimental design
Knowledge in the following topics are a plus:
• in soft robotics, e.g., types of robots and actuation
• in physics simulation, e.g., using SOFA
Avantages
Rémunération
€2,300 gross per month
Created in 2008, the Inria center at the University of Lille employs 360 people, including 305 scientists in 16 research teams. Recognized for its strong involvement in the socio-economic development of the Hauts-De-France region, the Inria center at the University of Lille maintains a close relationship with large companies and SMEs. By fostering synergies between researchers and industry, Inria contributes to the transfer of skills and expertise in the field of digital technologies, and provides access to the best of European and international research for the benefit of innovation and businesses, particularly in the region.
For over 10 years, the Inria center at the University of Lille has been at the heart of Lille's university and scientific ecosystem, as well as at the heart of Frenchtech, with a technology showroom based on avenue de Bretagne in Lille, on the EuraTechnologies site of economic excellence dedicated to information and communication technologies (ICT).
Contexte et atouts du poste
The PhD candidate will join the Inria centre of the University of Lille and be part of both the LOOP and DEFROST research groups, respectively specialized in Human-Computer Interaction and Soft Robotics. Both teams are affiliated with the CRIStAL laboratory (UMR 9189) and includes professors and assistant professors of the University of Lille, as well as Inria researchers. Lille is at the northern tip of France and its metropolitan area, situated at the crossroads of northern continental Europe, is the 5th biggest in France. Loki is a dynamic and multicultural team with members coming from different countries (Germany, Canada, China, Iran, France, etc.) and communicating daily in English.
Mission confiée
This research focuses on three primary factors: how the perceived and actual risks of singularities impacts perceived safety during HRI tasks, how the predictability and legibility of robot movements affect their perception [ 5 ], and how the robot appearance (i.e., realistic animal-like or plant-like appearances) impacts users emotional responses.
We propose as a general methodology to focus on soft manipulators using 1 to 3 effectors, with 3~up to 18~degrees-of-freedom (DOFs), and a maximum amplitude of movement from 1 to 5 meters. We propose to investigate tasks inspired from manufacturing and supply chain contexts [ 6 ] in which a single human and a single robot manipulate virtual objects synchronously, for instance, to place them in targeted zones. We envision the robot movements to be predetermined animations to grab and release objects, in which we will purposefully introduce singularities depending on the experimental conditions. These animations will either be simulated through realistic physical simulation of soft structures using SOFA [ 2 ] and reproduced with models in VR to simplify integration if necessary, or produced with animation software (e.g., Blender) to simulate specific animal-like behaviors that may go beyond the capabilities of current physics-based simulators. We will adapt their speed and trajectories based on user movements to simulate interactivity.
We propose to focus on the following research questions:
- How are singularities perceived by humans depending on the robot form factor and the task?
- How do the robot movement legibility and perceived behaviors impact perceived safety?
- Does the appearance of soft robots influence positively or negatively perceived safety?
Principales activités
The main activities of the PhD will consist in:
- review the literature in Human-Computer Interaction, Human-Robot Interaction and Soft Robotics on concepts linked to the perceived safety when interacting with (soft) robots
- review methods used to capture emotional data from users in VR (questionnaires, biometrics, ...)
- categorize specific sets of tasks and environments to investigate
- decide on the form factor and appearances of robots to investigate and build prototypes / 3D models for them using Blender and Unreal Engine or Unity
- build the experimental designs to answer the research questions
- analyze the results through quantitative and qualitative methods
Compétences
The candidate must have (or be about to obtain) a Master's degree or equivalent in Computer Science or Human-Computer Interaction, and demonstrate a strong interest in research. We value overall creativity, independence, team spirit and communication skills. A good level of technical and scientific English is required.
We are looking for candidates with strong skills in:
• developing interactive applications, especially in VR (e.g., using Unity or Godot )
• knowledge in 3D modeling and animation (e.g., using Blender )
• knowledge in HCI and experimental design
Knowledge in the following topics are a plus:
• in soft robotics, e.g., types of robots and actuation
• in physics simulation, e.g., using SOFA
Avantages
- Subsidized meals
- Partial reimbursement of public transport costs
- Leave: 7 weeks of annual leave + 10 extra days off due to RTT (statutory reduction in working hours) + possibility of exceptional leave (sick children, moving home, etc.)
- Possibility of teleworking and flexible organization of working hours
- Professional equipment available (videoconferencing, loan of computer equipment, etc.)
- Social, cultural and sports events and activities
- Access to vocational training
- Social security coverage
Rémunération
€2,300 gross per month
