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Haptique Biofidèle pour l'Interaction en Réalité Virtuelle

Abstract : For the last twenty years, virtual reality (VR) and haptic interfaces (HI) have had applications in more and more domains by allowing the simulation of the physical presence of users in a virtual environment that reproduces an artificial sensory experience on which they can act. The ergonomics of work situations is currently one of the most attractive application areas for this type of technology. In this thesis, I am particularly interested in the study of the biomechanical fidelity of the task in VR, notably the effect of haptic interaction, for object pick and place tasks, which are both high-risk tasks for the appearance of musculoskeletal disorders and frequent tasks in industry. Indeed, in order to ensure that the ergonomic conclusions of such VR assessments are valid for similar tasks in a real environment, it is necessary to ensure that the biomechanical behaviour of the user in VRis consistent with its behaviour in the real environment. My thesis work focuses on three contributions. First, I studied the effect of different levels of virtuality on the biomechanical behavior for pick and place tasks. Four levels of virtuality were evaluated : real visual feedback and real haptic interaction, real visual feedback and synthetic haptic interaction through an HI, virtual visual feedback via a head-mounted display and real haptic interaction and finally virtual visual feedback and synthetic haptic interaction, in order to study the independent and coupled effects of these modes of immersion and interaction. One of the results of this study was that the effects of VR immersion and the effects of synthetic haptic interaction on the biomechanical behavior of the user can be evaluated independently. Thus I decided to propose a compensation algorithm to improve haptic rendering for such tasks. Finally I evaluated more precisely the biomechanical fidelity of VR tasks with a synthetic haptic interaction with or without the compensation algorithm.
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Submitted on : Friday, January 22, 2021 - 9:40:09 AM
Last modification on : Friday, April 8, 2022 - 4:08:03 PM
Long-term archiving on: : Friday, April 23, 2021 - 7:00:25 PM


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  • HAL Id : tel-03118288, version 1


Simon Hilt. Haptique Biofidèle pour l'Interaction en Réalité Virtuelle. Biomécanique []. École normale supérieure de Rennes, 2020. Français. ⟨NNT : 2020ENSR0023⟩. ⟨tel-03118288⟩



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