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Etude théorique et expérimentale d'une interface à retour d'effort augmenté

Abstract : Physical interactions involve highly dexterous movements and exchanges of diverse information. Numerous haptic interfaces were developed with the aim to reproduce these dexterous gestures and each of these interactions. However, it is technically impossible to date to design an interface simulating all of them with a realistic haptic feedback.I propose to identify the most important interactions and the hand areas the most interesting to stimulate, and then to study how associate different devices to improve the feeling of an operator. I decided to focus on: the transition between user’s movements in free space and in contact with an object, force feedback, and finally local and global deformation of the fingers’ pulp, with an emphasis on the four following areas: distal phalanges of the thumb, index and middle finger, plus the external side of the index finger. To make this possible during a PhD, I finally decided to focus on an intermittent contact force feedback interface for the thumb and index fingers, by taking into account the future integration of more complete feedback. Therefore, I first developed instrumented end-effectors able to remotely measure the 6D configuration of the distal phalanx of the fingers without any contact with them. Then I dimensioned and designed a glove-type haptic interface with two fingers. This device allows controlling the position and orientation of the intermittent contact end-effectors in 6D throughout the whole fingers workspace. It is also able to generated force feedback when necessary. Finally, I studied the control laws of this interface in all its operating phases and its performances were evaluated.
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Submitted on : Tuesday, March 27, 2018 - 11:26:08 AM
Last modification on : Friday, May 29, 2020 - 4:00:04 PM
Long-term archiving on: : Thursday, September 13, 2018 - 10:40:15 AM


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  • HAL Id : tel-01744215, version 1


Anthony Chabrier. Etude théorique et expérimentale d'une interface à retour d'effort augmenté. Robotique [cs.RO]. Université Pierre et Marie Curie - Paris VI, 2017. Français. ⟨NNT : 2017PA066383⟩. ⟨tel-01744215⟩



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