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Solutions robotiques bas coût pour l’aide à la navigation en fauteuil roulant électrique : vers une contribution dans le champ de la rééducation neurologique

Abstract : While the use of a wheelchair allows people with disabilities to compensate for a loss of mobility, people with severe disabilities are denied the use of a power wheelchair. Indeed, cognitive or visual perception impairments can affect the ability to drive safely. In this context, access to mobility can be improved by providing appropriate assistive technologies to compensate for loss of mobility in all types of environments. While the first research on smart wheelchairs dates back to the early 1980s, no solutions have yet been proposed on the market or in rehabilitation centers and other specialized structures. This work aims to propose a set of solutions for power wheelchair navigation assistance designed in close collaboration with users and therapists. The development of such assistive solutions faces multiple robotic challenges combining innovative detection techniques, shared control with the user. In this work, a driving simulator supporting research and development of new robotic solutions for wheelchair navigation assistance is proposed. Then low-cost semi-autonomous assistance solutions for navigation assistance in indoor and outdoor environments are detailed. The evaluation with able-bodied participants allows to validate the mathematical methods and provide proof of concept of the proposed solutions. Finally, the first clinical evaluations with regular users at Pôle MPR Saint Hélier show the validation of the proposed framework in terms of user satisfaction.
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Louise Devigne. Solutions robotiques bas coût pour l’aide à la navigation en fauteuil roulant électrique : vers une contribution dans le champ de la rééducation neurologique. Ordinateur et société [cs.CY]. INSA de Rennes, 2018. Français. ⟨NNT : 2018ISAR0024⟩. ⟨tel-02122535⟩

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