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Contributions en vue de rendre plus naturelle l'interaction entre une personne handicapée et son assistance robotisée.

Abstract : Researches on technical assistance to persons with disabilities are much developed in recent years. Project ARPH (robotic Assistance to people with disabilities) of the laboratory IBISC, debuted in 1994, consists of a manipulator arm embedded on a mobile platform for assistance to the grasping and manipulation of remote objects. The thesis addresses firstly the robot control based on a multi-agent system. The robot being redundant (6 degrees of freedom for the arm and 2 degrees of freedom for the mobile platform), the first objective is to propose a command efficient even in case of failing of one or more joints. The second objective of this command is to achieve the target chosen by the person keeping, insofar as possible, a posture of the arm away from its singularities. The system thus remains the more manipulable possible at every moment. The results were compared with another multi-agent method and a classic command based on the concept of manipulability. The proposed method is better than the other two. The design of such a, complex and innovative system, requires a specific methodology. The ISO 13407 standard defines the process of user centered design (CCU) for interactive systems. It is originally intended for the development of software interfaces. The implemented design process is iterative, making it unusable for complex systems composed of not only software components but also hardware components (mechanical, electronic...). The virtual reality techniques have been used in order to make CCU approach effective for a complex system (CCU - SC). Initial virtual modeling of the system allows a first series of evaluations with the end users. When a part of the system is validated by the operators, it can really be developed. From this moment, the process enters in a mixed design cycle as the system includes real parts and virtual parts. Here are used the techniques of mixed reality, virtuality augmented to augmented reality. After several cycles of this type, it leads to a real system. In addition to the design process, the method provides a simulator of the real system. It can be operated after the design process for learning of the new system by future users. A simulator of the ARPH project was developed during the thesis. It has been evaluated with the help of students of experimental psychology. Two types of evaluation helped handicapped and non-handicapped users to manipulate the actual system and the Simulator. The first set of tests was to assess the transfer of skills between simulator and real system. The second series of tests was aimed at the evaluation of the robot of assistance into the nearest natural situation.
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Sébastien Delarue. Contributions en vue de rendre plus naturelle l'interaction entre une personne handicapée et son assistance robotisée.. Automatique / Robotique. Université d'Evry-Val d'Essonne, 2007. Français. ⟨tel-00913054⟩

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