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Jurczyk, Michael Ulrich. "Shape based stereovision assistance in rehabilitation robotics." [Tampa, Fla.] : University of South Florida, 2005. http://purl.fcla.edu/fcla/etd/SFE0001084.
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Hill, Tyler N. "Development of a prototype movement assistance system for extravehicular activity gloves." Thesis, The University of North Dakota, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=1583134.
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Spacesuits utilized a rubberized layer of material to contain a pressurized atmosphere to facilitate respiration and maintain the physiologic functions of the astronaut residing within. However, the elasticity of the material makes it resistant to deformation increasing the amount of work required during movement. This becomes particularly fatiguing for the muscle groups controlling the motion of the hands and fingers. To mitigate this a robotic system was proposed and developed. The system built upon previous concepts and prototypes discovered through research efforts. It utilized electric motors to pull the index, ring, and middle fingers of the right hand closed, ideally overcoming the resistive force posed by the pressurized elastic material. The effect of the system was determined by comparing qualitative and quantitative data obtained during activities conducted with and without it within a glove box. It was found that the system was able to offload some of this elastic force though several characteristics of the design limited the full potential this device offered. None the less, the project was met with success and provides a solid platform for continued research and development.
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Yung, Stephanie C. "The Effect of Robotic Assistance on Human Musculoskeletal System for Reaching Tasks." Thesis, California State University, Long Beach, 2017. http://pqdtopen.proquest.com/#viewpdf?dispub=10603846.
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Due to the rising number of stroke victims, the demand for reduced cost and effective treatments for recovering patients increases. To offset this need, previous studies introduced robotic assistance to rehabilitation treatments. This study investigates how much robotic assistance affects the patient by analyzing the differences in muscle activity. From the collected experimental data of ten healthy subjects, the results initially inferred that the end position of the reaching movements affected the muscle activity in biceps and triceps only, while the deltoid was not affected. However, after applying ANOVA one-way analyses, robotic assistance was found to have an impact on the deltoid, triceps, and bicep muscles when subjects moved their hands along an indirect trajectory towards nine targets. Meanwhile, only the bicep was affected when subjects moved their arm in a direct path with assistance. Lastly, the impact that the trajectory of the hand movement had on muscle activity was undetermined.
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Rowe, Justin Bradley. "Evaluating robotic assistance and developing a wearable hand activity monitor to improve upper extremity movement recovery after stroke." Thesis, University of California, Irvine, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=3727453.
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In their daily lives, stroke survivors must often choose between attempting upper-extremity activities using their impaired limb, or compensating with their less impaired limb. Choosing their impaired limb can be difficult and discouraging, but might elicit beneficial neuroplasticity that further reduces motor impairments, a phenomenon referred to as “the virtuous cycle”. In contrast, compensation is often quicker, easier, and more effective, but can reinforce maladaptive changes that limit motor recovery, a phenomenon referred to as “learned non-use”. This dissertation evaluated the role of robotic assistance in, and designed a wearable sensing system for, promoting the virtuous cycle.
In the first half of the dissertation, we use the FINGER robot to test the hypothesis that robotic assistance during clinical movement training triggers the virtual cycle. FINGER consists of two singly-actuated mechanisms that assist individuated movement of the index and middle fingers. 30 chronic stroke participants trained in FINGER using a GuitarHero-like game for nine sessions. Half were guided by an adaptive impedance controller towards a success rate of 85%, while the other half were guided towards 50%. Increasing assistance to enable successful practice decreased effort, but primarily for less-impaired participants. Overall, however, high success practice was as effective (or more) as low success practice and even more effective for highly impaired individuals. Participants who received high assistance training were more motivated and reported using their impaired hand more at home. These results support the hypothesis that high assistance clinical movement training motivates impaired hand use, leading to greater use of the hand in daily life, resulting in a self-training effect that reduces motor impairment.
The second half of the dissertation describes the development of the manumeter - a non-obtrusive wearable device for monitoring and incentivizing impaired hand use. Contrasted against wrist accelerometry (the most comparable technology), the manumeter uses a magnetic ring and a wristband with mangetometers to detect wrist and finger movement rather than gross arm movement. We describe 1) the inference of wrist and finger movement from differential magnetometer readings using a radial basis function network, 2) initial testing in which distance traveled estimates were within 94.7%±19.3 of their goniometricly measured values, 3) experiments with non-impaired participants in which the manumeter detected some functional activities better than wrist accelerometry, and 4) improvements to the hardware and data processing that allow both subject-independent tracking of the position of the finger relative to the wrist (RMS errors < 1cm) and highly reliable detection of whether the hand is open or closed. Its performance and non-obtrusive design make the manumeter well suited for measuring and reinforcing impaired hand use in daily life after stroke.
The contributions of this dissertation are experimental confirmation that high assistance movement training promotes the virtuous cycle, and development of a wearable sensor for monitoring hand movement in daily life. Training with robotic assistance and hand use feedback may ultimately help individuals with stroke recover to their full potential.
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Chauhan, Raghuraj Jitendra. "Towards Naturalistic Exoskeleton Glove Control for Rehabilitation and Assistance." Thesis, Virginia Tech, 2020. http://hdl.handle.net/10919/104113.
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This thesis presents both a control scheme for naturalistic control of an exoskeleton glove and a glove design. Exoskeleton development has been focused primarily on design, improving soft actuator and cable-driven systems, with only limited focus on intelligent control. There is a need for control that is not limited to position or force reference signals and is user-driven. By implementing a motion amplification controller to increase weak movements of an impaired individual, a finger joint trajectory can be observed and used to predict their grasping intention. The motion amplification functions off of a virtual dynamical system that safely enforces the range of motion of the finger joints and ensures stability. Three grasp prediction algorithms are developed with improved levels of accuracy: regression, trajectory, and deep learning based. These algorithms were tested on published finger joint trajectories. The fusion of the amplification and prediction could be used to achieve naturalistic, user-guided control of an exoskeleton glove. The key to accomplishing this is series elastic actuators to move the finger joints, thereby allowing the wearer to deflect against the glove and inform the controller of their intention. These actuators are used to move the fingers in a nine degree of freedom exoskeleton that is capable of achieving all the grasps used most frequently in daily life. The controllers and exoskeleton presented here are the basis for improved exoskeleton glove control that can be used to assist or rehabilitate impaired individuals.Master of Science
Millions of Americans report difficulty holding small or even lightweight objects. In many of these cases, their difficulty stems from a condition such as a stroke or arthritis, requiring either rehabilitation or assistance. For both treatments, exoskeleton gloves are a potential solution; however, widespread deployment of exoskeletons in the treatment of hand conditions requires significant advancement. Towards that end, the research community has devoted itself to improving the design of exoskeletons. Systems that use soft actuation or are driven by artificial tendons have merit in that they are comfortable to the wearer, but lack the rigidity required for monitoring the state of the hand and controlling it. Electromyography sensors are also a commonly explored technology for determining motion intention; however, only primitive conclusions can be drawn when using these sensors on the muscles that control the human hand. This thesis proposes a system that does not rely on soft actuation but rather a deflectable exoskeleton that can be used in rehabilitation or assistance. By using series elastic actuators to move the exoskeleton, the wearer of the glove can exert their influence over the machine. Additionally, more intelligent control is needed in the exoskeleton. The approach taken here is twofold. First, a motion amplification controller increases the finger movements of the wearer. Second, the amplified motion is processed using machine learning algorithms to predict what type of grasp the user is attempting. The controller would then be able to fuse the two, the amplification and prediction, to control the glove naturalistically.
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Shakeel, Amlaan. "Service robot for the visually impaired: Providing navigational assistance using Deep Learning." Miami University / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=miami1500647716257366.
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Hunt, Alexander. "A Biologically Inspired Robot for Assistance in Urban Search and Rescue." Cleveland, Ohio : Case Western Reserve University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=case1270137669.
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Thesis (Master of Sciences (Engineering))--Case Western Reserve University, 2010Department of EMC - Mechanical Engineering Title from PDF (viewed on 2010-05-25) Includes abstract Includes bibliographical references and appendices Available online via the OhioLINK ETD Center
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Dong, Lin. "Assistance to laparoscopic surgery through comanipulation." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066305/document.
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La chirurgie laparoscopique conventionnelle apporte des avantages aux patients mais pose des défis aux chirurgiens. Utiliser le robot permet de surmonter certaines des difficultés. Nous utilisons ici le concept de comanipulation, où un bras robotique sert de comanipulateur et génère des champs de force pour aider les chirurgiens. Pour implémenter des fonctions telles que la compensation de la gravité de l’instrument, il est utile de connaître la position du trocart en temps réel par rapport à la base du robot. Nous proposons un algorithme de détection et localisation de trocarts, basé sur la méthode du moins carré. Des expériences in vitro et in vivo valident son efficacité. Considérant des caractéristiques de la chirurgie laparoscopique, i.e., de l’espace de travail grand et de la difficulté de planifier le geste, des champs visqueux sont utilisés. Afin de s’adapter aux mouvements différents, nous utilisons une loi de commande de viscosité variable. Cependant, elle rencontre un problème d’instabilité, qui est analysé théoriquement et expérimentalement. Une solution d’ajout d’un filtre passe-bas de premier ordre est proposée, dont l’efficacité est mise en évidence par une expérience de ciblage point à point. Avec la position du trocart connue, nous pouvons établir «le modèle de levier», une formule décrivant la relation entre les vitesses et les forces appliquées à différents points de l’instrument. Ceci permet de mettre en œuvre une loi de commande de viscosité sans utiliser de signaux bruités, au point de centre de la poignée ou la pointe de l’instrument. Une expérience est menée pour comparer l’influence de la loi de commande sur les comportements de mouvement humainTraditional laparoscopic surgery brings advantages to patients but poses challenges to surgeons. The introduction of robots into surgical procedures overcomes some of the difficulties. In this work, we use the concept of comanipulation, where a 7-joint serial robotic arm serves as a comanipulator and generates force fields to assist surgeons.In order to implement functions like instrument gravity compensation, identifying real-time trocar position with respect to robot base is a prerequisite. Instead of obtaining trocar information from the registration step, we propose a robust trocar detection and localization algorithm based on least square method. Both in-vitro and in-vivo experiments validate its efficiency.Considering the characteristics of laparoscopic surgery, i.e., relatively large workspace and flexible operating objects, viscous fields are employed. To better adapt to different motion, we use a variable viscosity controller. However, this controller encounters an instability problem, which is analyzed both theoretically and experimentally. A solution of adding a first order low pass filter is proposed to slow down the variation of the viscosity coefficient, whose efficiency is evidenced by a point-to-point targeting experiment.With real-time trocar position known, the “lever model”, a formula describing therelationship of the velocities and forces of different instrument points, can be established. This allows implementing viscosity controller without using noisy signals at the center points of instrument handle and tip. Another point-to-point movement experiment is conducted to compare the features of the controller influence on human motion behaviors
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Trénoras, Lambert. "Analyse et interprétation des variations intentionnelles ou perturbatrices de la station debout sur gyropode." Thesis, Versailles-St Quentin en Yvelines, 2014. http://www.theses.fr/2014VERS0040/document.
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Le travail de cette thèse porte sur l’étude et la conception d’un fauteuil roulantsur deux roues appelé Gyrolift, adaptation d’un gyropode, véhicule de transport autoéquilibré,en fauteuil roulant verticalisateur sur deux roues. La verticalisation permetà une personne assise dans un fauteuil roulant le transfert d’une position assise à uneposition debout.Se mettre debout et se maintenir en équilibre malgré la présence d’un certainnombre de perturbations représente un défi pour une personne en situation de handicap.Les variations de posture de la partie supérieure telle que le tronc peuventêtre dues à des perturbations externes. Nous étudions la détection des mouvementsperturbateurs afin d’interpréter ces derniers ou l’intention qu’ils caractérisent et permettrede réagir en fonction de caractéristiques comme l’intensité et le sens. Nousétudions aussi les impacts de facteurs tels que l’environnement et l’appréhension surle Gyrolift et son utilisateur.Dans le premier chapitre de la thèse, la contribution porte sur l’étude de la trajectoirede verticalisation et sur les perturbations qu’elle peut générer. Un premierprototype a été conçu afin de valider notre étude.Afin de développer notre approche, le second chapitre de la thèse porte sur ladétection de perturbations sur un robot humanoïde bipède. Nous avons obtenu descritères nous permettant une détection rapide et fiable d’une perturbation, de sonsens et de son intensité afin d’effectuer les mouvements adaptés pour compenser cetteperturbation.Enfin, nous avons étudié l’adaptation de ces critères sur le Gyrolift ainsi que lesréactions possibles afin de sécuriser le système. Nous avons pour cela développé etréalisé un second prototype du fauteuil Gyrolift.Nous avons validé cette étude à l’aide d’un robot humanoïde et d’un nouveau typede fauteuil roulant verticalisateur, le Gyrolift, développé dans le cadre de ce projetThe work of this thesis concerns the study and design of a two-wheel mobilitychair, conscript the Gyrolift, adapted from a Personal Transporter. It provides anauto-well-balanced transport vehicle and a verticalisation mechanism. The verticalisationallows a user in a wheelchair the transfer from a seat position to a standingposition.Being in a standing position and remaining stable when disturbances are presentmay be a challenge for a person with a mobility impairment. The posture variationsof the upper limbs such as the trunk can be due to external disturbances. This studydiscusses the detection of disruptive movements and to interpret the disturbances. Asafety ystem reacts according to the intensity of the disturbance when detected. Wealso study the impacts of factors such as the environment and the apprehension onthe Gyrolift and user.In the first chapter of the thesis, the contribution concerns the study of the trajectoryof verticalisation and the disturbances which it can generate. A first prototypewas designed to validate our study.The second chapter of the thesis concerns the detection of disturbance on bipedshumanoids robots. We obtained criteria allowing us a fast and reliable detection ofa disturbance, its direction and its intensity to make the movements adapted tocompensate for this disturbance.Finally, we studied the adaptation of these criteria on the Gyrolift as well as thepossible reactions to secure the system. We developed and realised for it a secondprototype of the Gyrolift wheelchair.We validated this study with the help of a humanoid robot and a new type ofverticalisation wheelchair developed within the framework of this project
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Stevens, Thomas F. "A LiDAR Based Semi-Autonomous Collision Avoidance System and the Development of a Hardware-in-the-Loop Simulator to Aid in Algorithm Development and Human Studies." DigitalCommons@CalPoly, 2015. https://digitalcommons.calpoly.edu/theses/1521.
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In this paper, the architecture and implementation of an embedded controller for a steering based semi-autonomous collision avoidance system on a 1/10th scale model is presented. In addition, the development of a 2D hardware-in-the-loop simulator with vehicle dynamics based on the bicycle model is described. The semi-autonomous collision avoidance software is fully contained onboard a single-board computer running embedded GNU/Linux. To eliminate any wired tethers that limit the system’s abilities, the driver operates the vehicle at a user-control-station through a wireless Bluetooth interface. The user-control-station is outfitted with a game-controller that provides standard steering wheel and pedal controls along with a television monitor equipped with a wireless video receiver in order to provide a real-time driver’s perspective video feed. The hardware-in-the-loop simulator was developed in order to aid in the evaluation and further development of the semi-autonomous collision avoidance algorithms. In addition, a post analysis tool was created to numerically and visually inspect the controller’s responses. The ultimate goal of this project was to create a wireless 1/10th scale collision avoidance research platform to facilitate human studies surrounding driver assistance and active safety systems in automobiles. This thesis is a continuation of work done by numerous Cal Poly undergraduate and graduate students.
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Botero-Galeano, Diego. "Development of algorithms and architectures for driving assistance in adverse weather conditions using FPGAs." Phd thesis, INSA de Toulouse, 2012. http://tel.archives-ouvertes.fr/tel-00771869.
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En raison de l'augmentation du volume et de la complexité des systèmes de transport, de nouveaux systèmes avancés d'assistance à la conduite (ADAS) sont étudiés dans de nombreuses entreprises, laboratoires et universités. Ces systèmes comprennent des algorithmes avec des techniques qui ont été étudiés au cours des dernières décennies, comme la localisation et cartographie simultanées (SLAM), détection d'obstacles, la vision stéréoscopique, etc. Grâce aux progrès de l'électronique, de la robotique et de plusieurs autres domaines, de nouveaux systèmes embarqués sont développés pour garantir la sécurité des utilisateurs de ces systèmes critiques. Pour la plupart de ces systèmes, une faible consommation d'énergie ainsi qu'une taille réduite sont nécessaires. Cela crée la contrainte d'exécuter les algorithmes sur les systèmes embarqués avec des ressources limitées. Dans la plupart des algorithmes, en particulier pour la vision par ordinateur, une grande quantité de données doivent être traitées à des fréquences élevées, ce qui exige des ressources informatiques importantes. Un FPGA satisfait cette exigence, son architecture parallèle combinée à sa faible consommation d'énergie et la souplesse pour les programmer permet de développer et d'exécuter des algorithmes plus efficacement que sur d'autres plateformes de traitement. Les composants virtuels développés dans cette thèse ont été utilisés dans trois différents projets: PICASSO (vision stéréoscopique), COMMROB (détection d'obstacles à partir d'une système multicaméra) et SART (Système d'Aide au Roulage tous Temps).
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Asghar, Jawaria. "Jointly Ego Motion and Road Geometry Estimation for Advanced Driver Assistance Systems." Thesis, Linköpings universitet, Reglerteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-179491.
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For several years, there has been a remarkable increase in efforts to develop an autonomous car. Autonomous car systems combine various techniques of recognizing the environment with the help of the sensors and could drastically bring down the number of accidents on road by removing human conduct errors related to driver inattention and poor driving choices. In this research thesis, an algorithm for jointly ego-vehicle motion and road geometry estimation for Advanced Driver Assistance Systems (ADAS) is developed. The measurements are obtained from the inertial sensors, wheel speed sensors, steering wheel angle sensors, and camera. An Unscented Kalman Filter (UKF) is used for estimating the states of the non-linear system because UKF estimates the state in a simplified way without using complex computations. The proposed algorithm has been tested on a winding and straight road. The robustness and functioning of our algorithm have been demonstrated by conducting experiments involving the addition of noise to the measurements, reducing the process noise covariance matrix, and increasing the measurement noise covariance matrix and through these tests, we gained more trust in the working of our tracker. For evaluation, each estimated parameter has been compared with the reference signal which shows that the estimated signal matches the reference signal very well in both scenarios. We also compared our joint algorithm with individual ego-vehicle and road geometry algorithms. The results clearly show that better estimates are obtained from our algorithm when estimated jointly instead of estimating separately.
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Lamti, Hachem Amine. "Brain and gaze based wheelchair navigation enhancement." Thesis, Toulon, 2013. http://www.theses.fr/2013TOUL0020/document.
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Le projet BEWHEELI (Brain Eyes WHEELchair Interface) consiste à mettre en place une interface basée sur la combinaison du regard et de l’activité cérébrale pour aider une personne à mobilité réduite, à contrôler, commander son fauteuil roulant. La navigation sur fauteuil roulant basée sur le regard a fait l’objet de plusieurs projets. Néanmoins, plusieurs contraintes ont été évoqué : la fatigue cognitive, occulo-musculaire, et l’incapacité de la gestion des fixations sporadiques, d’où l’introduction de la composante cérébrale qui, malgré sa limitation technologique et la complexité de son traitement, s’avère complémentaire à la composante visuelle. Par conséquent pour pallier à ce problème, qui influe sur la sécurité de la navigation du fauteuil roulant, deux paramètres, l’émotion et la fatigue mentale ont été pris en considération. En premier temps, un protocole d’induction des émotions a été mis en place, se basant sur la présentation de séquences vidéo, et les données issues du capteur cérébral ont été extraites et classifiées pour en dégager quatre émotions essentielles : excitation, stress, énervement et relaxation. Ces dernières ont été ensuite intégrées comme contrôleurs de vitesse dans un contexte de navigation virtuelle sur fauteuil roulant. La prise en considération du niveau de la fatigue mentale de l’utilisateur, qui peut engendrer sa déconcentration totale ou partielle dans la prise de décisions, est cruciale pour sécuriser la navigation sur fauteuil roulant. Pour se faire, une étude cognitive basée essentiellement sur l’impact de la fatigue mentale issu des deux sources de contrôle cérébrales, telles que : le Pique 300 (P300) et le potentiel visuel évoqué (SSVEP). Un protocole d’expérience spécifique a été mis en place, nous a permis d’évoquer les caractéristiques physiques des signaux du P300 et le SSVEP d’induire la fatigue mentale. Afin de définir la partie cérébrale la plus influencée et évaluer au mieux le niveau de fatigue de l’utilisateur, une étude de corrélation et de fusion entre les deux informations issues des deux signaux du P300 et le SSVEP a été menée en utilisant la théorie des évidences (Dempster-Schäfer). En dernière étape de ce projet, une étude de fusion fatigue mentale / émotion a été effectué, moyennant la logique floue, pour l’aide à la décision en mode manuel, semi-autonome ou autonome, du fauteuil roulantHe Brain Eyes WHEELchair Interface (BEWHEELI) project aims at proposing a new alternative for severely disabled people (example palsy and Locked-In patients) to command their wheelchairs. It's built on two major blocks: the command block which ensures the migration from the use of joystick to the gaze/brain automated command (including the intermediate phase of gaze/joystick command). The security block deals with the wheelchair control by assessing human factors mainly emotions and mental fatigue through its impact on brainwave patterns. In the former, four emotions were induced and implemented (relaxation, nervousness, excitement and stress) in three navigation scenarios where the introduction of the detection block was assessed. The next step consists on evaluating the impact the mental fatigue can have on two sources of control : Positive 300 (P300) and Steady State Visual Evocked Potentials (SSVEP).Those are treated individually and combined be the mean of evidential theory reasoning to build up a fatigue detection block. At the end a fuzzy logic based decision system was introduced to combine emotional and fatigue blocks that triggers to three navigation modes : manual, semi-autonomous and autonomous that reflect physical abilities of the users to command their wheelchairs
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Le, Bars Hervé. "Assistance à la supervision en télérobotique : Caractérisation et développement d'une maquette." Valenciennes, 1995. https://ged.uphf.fr/nuxeo/site/esupversions/e6648f87-1b22-4e63-ae41-37255cf5d092.
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Ce travail concerne l'assistance à la supervision en télérobotique. Le niveau supervision a pour rôle de déterminer la configuration du télérobot la plus adaptée à la tache à accomplir. Une approche basée sur la connaissance doit rendre le télérobot plus rapidement opérationnel pour des interventions plus complexes dans des environnements mal connus. La conception d'un tel système passe par l'étude de l'activité télérobotique et du processus de déroulement d'une mission. Une modélisation de l'activité à trois niveaux Opération, Tache et Action et un schéma de déroulement à cinq étapes Génération du plan, Raffinement, Exécution, Planification locale et Replanification sur incident sont proposés. Devant la complexité du processus de déroulement d'une mission, le rôle du système d'assistance est non seulement d'assurer l'interface avec le télérobot et d'apporter une aide à la décision, mais aussi de guider l'operateur au cours de la mission en lui soumettant les bons problèmes au bon moment. Pour mieux prendre en compte cette dernière fonction, une architecture à deux niveaux est proposée. Le premier est le niveau Planification. Il comprend les différents mécanismes permettant la mise en place et l'exécution des commandes envoyées au télérobot. La planification utilise une représentation par graphes et régles de la connaissance, et s'appuie sur des mécanismes orientes objet. Le second niveau est le niveau Métaplanification. Il détermine quel mécanisme de planification doit être mis en œuvre. La maquette logicielle réalise cette architecture à l'aide de deux « blackboards ». Le blackboard de planification contient l'état du plan, décrit selon les niveaux Opération, Tache et Action, et contrôle le télérobot. Le blackboard de Métaplanification contient l'état de la mission, décrit selon les niveaux Etapes de planification et Activite de planification, et contrôle le blackboard de planification. La simulation d'une mission à l'aide de cette maquette confirme l'intérêt des mécanismes proposés.
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Tammana, Rohit. "Development and Testing of a Haptic Interface to Assist and Improve the Manipulation Functions in Virtual Environments for Persons with Disabilities." [Tampa, Fla.] : University of South Florida, 2003. http://purl.fcla.edu/fcla/etd/SFE0000170.
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Algers, Björn. "Stereo Camera Calibration Accuracy in Real-time Car Angles Estimation for Vision Driver Assistance and Autonomous Driving." Thesis, Umeå universitet, Institutionen för fysik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-149443.
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The automotive safety company Veoneer are producers of high end driver visual assistance systems, but the knowledge about the absolute accuracy of their dynamic calibration algorithms that estimate the vehicle’s orientation is limited. In this thesis, a novel measurement system is proposed to be used in gathering reference data of a vehicle’s orientation as it is in motion, more specifically the pitch and roll angle of the vehicle. Focus has been to estimate how the uncertainty of the measurement system is affected by errors introduced during its construction, and to evaluate its potential in being a viable tool in gathering reference data for algorithm performance evaluation. The system consisted of three laser distance sensors mounted on the body of the vehicle, and a range of data acquisition sequences with different perturbations were performed by driving along a stretch of road in Linköping with weights loaded in the vehicle. The reference data were compared to camera system data where the bias of the calculated angles were estimated, along with the dynamic behaviour of the camera system algorithms. The experimental results showed that the accuracy of the system exceeded 0.1 degrees for both pitch and roll, but no conclusions about the bias of the algorithms could be drawn as there were systematic errors present in the measurements.Bilsäkerhetsföretaget Veoneer är utvecklare av avancerade kamerasystem inom förarassistans, men kunskapen om den absoluta noggrannheten i deras dynamiska kalibreringsalgoritmer som skattar fordonets orientering är begränsad. I denna avhandling utvecklas och testas ett nytt mätsystem för att samla in referensdata av ett fordons orientering när det är i rörelse, mer specifikt dess pitchvinkel och rollvinkel. Fokus har legat på att skatta hur osäkerheten i mätsystemet påverkas av fel som introducerats vid dess konstruktion, samt att utreda dess potential när det kommer till att vara ett gångbart alternativ för att samla in referensdata för evaluering av prestandan hos algoritmerna. Systemet bestod av tre laseravståndssensorer monterade på fordonets kaross. En rad mätförsök utfördes med olika störningar introducerade genom att köra längs en vägsträcka i Linköping med vikter lastade i fordonet. Det insamlade referensdatat jämfördes med data från kamerasystemet där bias hos de framräknade vinklarna skattades, samt att de dynamiska egenskaperna kamerasystemets algoritmer utvärderades. Resultaten från mätförsöken visade på att noggrannheten i mätsystemet översteg 0.1 grader för både pitchvinklarna och rollvinklarna, men några slutsatser kring eventuell bias hos algoritmerna kunde ej dras då systematiska fel uppstått i mätresultaten.
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Devigne, Louise. "Solutions robotiques bas coût pour l’aide à la navigation en fauteuil roulant électrique : vers une contribution dans le champ de la rééducation neurologique." Thesis, Rennes, INSA, 2018. http://www.theses.fr/2018ISAR0024/document.
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Alors que l’utilisation d’un fauteuil roulant permet aux personnes en situation de handicap de compenser une perte de la mobilité, certaines personnes se voient privées de l’utilisation d’un fauteuil roulant électrique. En effet, la présence de troubles cognitifs ou de la perception visuelle altère la capacité à conduire sans danger. Dans ce contexte, l’accès à la mobilité peut être amélioré par l’apport d’aides techniques adaptées permettant de compenser la perte de mobilité dans tous types d’environnements. Alors que les premiers travaux sur les fauteuils roulants intelligents datent du début des années 80, aucune solution n’est à ce jour sur le marché ou dans les centres de rééducation. Ce travail vise à proposer un ensemble de solutions d’aide à la conduite de fauteuil roulant électrique conçu en collaboration. Le développement de telles aides techniques constitue de multiples défis robotiques mêlant techniques de détection innovantes et méthodes de contrôle partagé avec l’utilisateur. Dans ce travail, un simulateur de conduite visant à appuyer la recherche et le développement de nouvelles solutions robotiques est proposé. Puis des solutions bas coût d’assistance semiautonome à la conduite en intérieur et en extérieur sont détaillées. L’évaluation avec des participants sains nous permet de valider les méthodes mathématiques mises en oeuvre et de fournir des preuves de concept des solutions proposées. Enfin, les premières évaluations cliniques avec des usagers au Pôle MPR Saint Hélier montrent la validation de de la méthode proposée en termes de satisfaction des utilisateursWhile 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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Hernandes, André Carmona. "Análise de risco de colisão usando redes bayesianas." Universidade de São Paulo, 2012. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-05112013-162021/.
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A segurança no tráfego de carros é um assunto em foco nos dias de hoje e, dentro dele, podem-se citar os sistemas de auxílio ao motorista que vêm sendo desenvolvidos com a finalidade de reduzir o grande número de fatalidades em acidentes de trânsito. Tais sistemas de auxílio buscam mitigar falhas humanas como falta de atenção e imprudência. Visto isso, o projeto SENA, desenvolvido pelo Laboratório de Robótica Móvel da Escola de Engenharia de São Carlos, busca contribuir com a evolução dessa assistência ao motorista. O presente trabalho realiza um estudo sobre uma técnica de inteligência artificial chamada de Redes Bayesianas. Essa técnica merece atenção em virtude de sua capacidade de tratar dados incertos em forma de probabilidades. A rede desenvolvida por esse trabalho utiliza, como dados de entrada, os classificadores em desenvolvimento no projeto SENA e tem como resposta um comportamento que o veículo deve executar, por um ser humano ou por um planejador de trajetórias. Em função da alta dimensionalidade do problema abordado, foram realizados dois experimentos em ambiente simulado de duas situações distintas. A primeira, um teste de frenagem próximo a um ponto de intersecção e a segunda, um cenário de entroncamento. Os testes feitos com a rede indicam que classificadores pouco discriminantes deixam o sistema mais propenso a erros e que erros na localização do ego-veículo afetam mais o sistema se comparado a erros na localização dos outros veículos. Os experimentos realizados mostram a necessidade de um sistema de tempo real e um hardware mais adequado para tratar as informações mais rapidamenteThe safety of cars in traffic scenarios is being addressed on the past few years. One of its topics is the Advanced Driver-Assistance Systems which have been developed to reduce the fatality numbers of traffic accidents. These systems try to decrease human failures, such as imprudence and lack of attention while driving. For these reasons, the SENA project, in progress on the Mobile Robotics Laboratory at the Sao Carlos School of Engineering (EESC), aims to contribute for the evolution of these assistance systems. This work studies an artificial intelligence technique called Bayesian Networks. It deserves our attention due to its capability of handling uncertainties with probability distributions. The network developed in this Masters Thesis has, as input, the result of the classifiers used on SENA project and has, as output, a behavior which has to be performed by the vehicle with a driver or autonomously by the means of a path planner. Due to the high dimensionality of this issue, two different tests have been carried out. The first one was a braking experiment near a intersection point and the other one was a T-junction scenario. The tests made indicate that weak classifiers leaves the system more instable and error-prone and localization errors of the ego-vehicle have a stronger effect than just localization errors of other traffic participants. The experiments have shown that there is a necessity for a real-time system and a hardware more suitable to deal quickly with the information
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Gudipati, Radhika. "GENTLE/A : adaptive robotic assistance for upper-limb rehabilitation." Thesis, University of Hertfordshire, 2014. http://hdl.handle.net/2299/13895.
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Advanced devices that can assist the therapists to offer rehabilitation are in high demand with the growing rehabilitation needs. The primary requirement from such rehabilitative devices is to reduce the therapist monitoring time. If the training device can autonomously adapt to the performance of the user, it can make the rehabilitation partly self-manageable. Therefore the main goal of our research is to investigate how to make a rehabilitation system more adaptable. The strategy we followed to augment the adaptability of the GENTLE/A robotic system was to (i) identify the parameters that inform about the contribution of the user/robot during a human-robot interaction session and (ii) use these parameters as performance indicators to adapt the system. Three main studies were conducted with healthy participants during the course of this PhD. The first study identified that the difference between the position coordinates recorded by the robot and the reference trajectory position coordinates indicated the leading/lagging status of the user with respect to the robot. Using the leadlag model we proposed two strategies to enhance the adaptability of the system. The first adaptability strategy tuned the performance time to suit the user’s requirements (second study). The second adaptability strategy tuned the task difficulty level based on the user’s leading or lagging status (third study). In summary the research undertaken during this PhD successfully enhanced the adaptability of the GENTLE/A system. The adaptability strategies evaluated were designed to suit various stages of recovery. Apart from potential use for remote assessment of patients, the work presented in this thesis is applicable in many areas of human-robot interaction research where a robot and human are involved in physical interaction.
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Wu, Faye Y. "Supernumerary robotic fingers for single-handed grasping and manipulation assistance." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/111742.
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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 137-145).
Hemiparetic patients, such as stroke survivors, have limited functionality in one of their hands and must constantly face challenges in completing simple bimanual tasks of daily living. A new type of wearable robot, namely Supernumerary Robotic Fingers (or SR Fingers for short), was developed to augment the capability of the human hand such that a variety of prehensile and manipulation tasks can be performed single handedly. These wearable robotic fingers may provide chronic hemiparetic patients with the assistance they need to lead independent and productive lives. The aim of this thesis, besides designing a lightweight prototype to emulate the functionality of a second hand, is to address fundamental challenges associated with performing tasks with a single hand assisted by the SR Fingers. First, the robot must follow and support the human hand as the control decision evolves. A postural synergy-based control algorithm is developed to integrate the grasping motion of the SR Fingers with that of the human fingers so the users can control the robot in an implicit and intuitive manner as if it were part of their own body. Second, unlike a robot sitting on a table, the SR Fingers are mounted on the human forearm and, thereby, the human hand motion during manipulation disturbs the position and orientation of the robot. A data-driven latent space impedance control method is used to compensate for this disturbance such that the robot can secure the object and at the same time allow natural human movement to be carried out during manipulation. Simulations and experiments have demonstrated that a pair of robotic fingers can assist the user in performing single-handed grasping and manipulation tasks without requiring explicit commands.
by Faye Y. Wu.
Ph. D.
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Ng, Wan Sing. "Development of a surgeon assistant robot for prostatectomy." Thesis, Imperial College London, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.244144.
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LEITE, DANIEL DE SOUSA. "ROBOTIC DEVICE FOR MOBILITY ASSISTANCE TO ELDERLY PEOPLE IN URBAN ENVIRONMENTS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2016. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=32438@1.
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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIROCOORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR
PROGRAMA DE EXCELENCIA ACADEMICA
Com o aumento da expectativa, de vida o envelhecimento da população vem se tornando uma realidade cada vez mais presente no Brasil e no mundo. Esse novo panorama demográfico já é vivenciado por países ricos, que vêm cada vez mais investindo para se enquadrar nessa nova realidade, seja por meio da adaptação de suas cidades ou pelo desenvolvimento de novas tecnologias para melhora da qualidade de vida. Na área da robótica, diversas pesquisas vêm sendo desenvolvidas com o intuito de reabilitação e melhora da qualidade de vida da população idosa. Nesses trabalhos são desenvolvidos, por exemplo, dispositivos que buscam auxiliar o idoso na realização de suas atividades diárias, provendo, principalmente, suporte e prevenção de quedas. Essa dissertação de mestrado apresenta o desenvolvimento do protótipo de um dispositivo para assistência a locomoção de pessoas idosas que possuam alguma deficiência visual, motora e/ou cognitiva. O dispositivo tem como objetivo guiar o usuário em ambientes urbanos de maneira autônoma. O protótipo deve ser capaz de desviar de qualquer obstáculo que possa levar o idoso à queda, além de ter uma estrutura que ofereça apoio para o seu deslocamento. O dispositivo proposto possui uma estrutura semelhante a um andador, cuja base é um robô móvel diferencial. Para que possa obter informações do ambiente, o dispositivo está equipado com sensores de distância, uma central inercial e encoders nas rodas. Todo o processamento ocorre em uma CPU de baixo custo, Raspberry Pi 1 versão 2, embarcada no próprio dispositivo e o controle de navegação ocorre por meio de um algoritmo baseado em lógica Fuzzy. Os acessos ao hardware e software de controle do dispositivo são gerenciados pelo framework de robótica Player (Gerkey e contribuidores, 2010). Para que o dispositivo receba a rota de navegação ele está conectado a um celular, com sistema operacional Android, via protocolo TCP/IP. Esse celular está executando uma API (Application Programming Interface) do Google Maps que fornece direção e distância ao objetivo a cada passo da interação, além da localização global do dispositivo, por meio do sensor GPS do celular. O objetivo deve ser inicialmente estabelecido pelo usuário por meio da API desenvolvida, para que a navegação autônoma ocorra. Além da navegação autônoma, o dispositivo permite que usuário envie comandos diretamente para os motores por meio de sensores de força instalados próximos aos pontos de apoio do usuário.
With the increase in life expectation, the ageing population has become more present in Brazil and the world. This new demographic scenery has been already framed by rich countries, which are increasingly investing to fit this new reality, either through the adaptation of their cities or the development of new technologies to improve the quality of life. In the area of robotics, several researches have been developed with the aim of rehabilitation and improvement of the quality of life of the elderly population. These researches are developing, for example, devices to assist the elderly in carrying out their daily activities, providing support and prevention of falls. This work presents the development of the prototype of a device to assist elderly person with any visual, cognitive and/or motor impairment to locomotion by itself. The device aims to guide the user autonomously in urban environments. The prototype should be able to avoid any obstacle that can cause the elderly to fall, besides having a structure that offers support for his balance. The proposed device has a structure similar to a walker whose base is a differential mobile robot. For the device be able to get information from the environment, it is embedded with range sensors, a measurement central unit and encoders at the wheels. All processing occurs in a low-cost CPU, Raspberry Pi 1 B version 2, which is embedded in the mobile device, and the navigation control algorithm is based on fuzzy logic. The robotic framework Player (Gerkey and contributors, 2010) provides the access to the hardware and software of the device. For the device to receive the navigation route, it is connected to an Android operating system phone, by TCP/IP protocol. This phone runs an API (Application Programming Interface) from Google Maps that provides the direction and the distance to the goal in every step of its interaction, besides the global location of the robot, provided by the GPS sensor of the phone. The user should firstly set the goal with the API developed, so that the autonomous navigation will occur. In addition to the autonomous navigation, the device allows the user to send commands directly to the motors by means of the force sensors installed at the robot cane.
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Eilers, Hubertus [Verfasser]. "Accuracy of image guided robotic assistance in cochlear implant surgery / Hubertus Eilers." Hannover : Technische Informationsbibliothek und Universitätsbibliothek Hannover (TIB), 2012. http://d-nb.info/1019944439/34.
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Göller, Michael [Verfasser], and R. [Akademischer Betreuer] Dillmann. "Behavior-based Control for Service Robots inspired by Human Motion Patterns : a Robotic Shopping Assistant / Michael Göller. Betreuer: R. Dillmann." Karlsruhe : KIT-Bibliothek, 2014. http://d-nb.info/1049236998/34.
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Franco, Enrico. "Robotic assistant for MRI-guided ablation of the liver." Thesis, Imperial College London, 2015. http://hdl.handle.net/10044/1/54890.
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Robotic devices represent a promising solution to the space limitations of cylindrical MRI scanners, potentially allowing more accurate and faster intervention for the benefit of patients and clinicians. This thesis presents the design, control, and experimental evaluation of a robotic assistant for MRI-guided percutaneous intervention of the liver. The robot provides remotely controlled alignment of a needle guide inside the MRI scanner bore and employs manual needle insertion outside the bore. A graphical user interface allows planning the procedure based on the MR images. A systems engineering process for requirements analysis and concept generation for medical devices is employed in order to provide a solid basis for the design. This approach involves multiple methods and defines a specific workflow with the aim of generating a comprehensive set of requirements and corresponding solutions in order to address the clinical needs. The main features and functionalities of the robot are analysed and verified with a first prototype. Particular attention is paid to the design of a suitable pneumatic actuation and to the position control of the robot. In this respect, different control algorithms are designed and compared with simulations and experiments, achieving a higher positioning accuracy than previously reported for similar systems. A fully functional prototype is then presented and evaluated with extensive experiments. The effects of the system on the quality of the MR images and the robot targeting accuracy are assessed in high-field closed-bore MRI scanners. The advantages of robot-assisted needle insertion over the conventional manual procedure in terms of accuracy and time saving are highlighted with a comparative phantom study. The functionality of the system is verified with an exploratory clinical trial on one patient. Finally, the use of pneumatic actuation for teleoperated needle insertion is investigated and suitable control strategies are presented, in view of a further enhancement of the robot functionalities in following design iterations.
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ARBOLEDA, GIOVANNY ALBERTO MENESES. "DESIGN AND MOTION CONTROL OF AN OMNIDIRECTIONAL ROBOTIC WALKING CANE FOR ASSISTANCE OF MOTOR DISABILITIES." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2015. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=27703@1.
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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIROCOORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR
PROGRAMA DE EXCELENCIA ACADEMICA
A robótica já é parte importante da vida cotidiana, em especial na grande ajuda que pode promover para melhorar a qualidade de vida, mostrando-se como uma ótima opção, por exemplo, para a reabilitação física no corpo humano. O presente trabalho apresenta um projeto e um estudo de controle de movimento de uma plataforma robótica - uma bengala - controlada por meio de sensores de força nela localizados, fazendo com que o registro dos movimentos do usuário seja feito de forma não-invasiva. O protótipo se desloca por meio de três rodas omnidirecionais, acionadas por motores elétricos de corrente continua. Estes últimos têm facilidade no controle e são de baixo custo. A bengala é fabricada em alumínio para facilitar o seu transporte devido à baixa densidade desse material, além de apresentar uma boa usinabilidade, facilitando a sua fabricação. O sistema eletrônico consiste de três etapas: (i) circuito de aquisição de ponte de Wheatstone para os extensômetros; (ii) amplificação e filtragem feitas com amplificadores de instrumentação e filtros passa baixa Butterworth; e (iii) processamento e controle, implementado em dois microcontroladores PIC. O controle da bengala é baseado em admitância em paralelo com um controle PI linear, o qual pretende promover ao usuário uma sensação de naturalidade ao caminhar, sem esforços adicionais significativos e com rápida resposta. Em particular, o sistema pretende detectar situações de queda iminente do usuário, cenário não incomum no uso por idosos.
Robotics already is an important part of modern daily routine, with a quite unlimited potential for the improvement of life quality. For instance, robotics can be a very attractive technology for physical rehabilitation of the human body. The present work presents a design proposal and study of the stability control of an omnidirectional robotic walking cane for assistance of motor disabilities. Non-invasive force sensors are used to register the user s motions and to control the robotic cane. Three omnidirectional wheels, each of them driven by a continuous electrical current motor, move the prototype in all planar directions without the need for turning. The chosen electrical motors are characterized by their easy control and low cost. The stick is fabricated in aluminum, a low-density material with good machinability, in order to both facilitate the user in transporting the cane and to ease the manufacturing process. The electronic system is comprised of three stages: (i) a Wheatstone bridge circuit for the acquisition of strain-gage signals for force and torque sensing; (ii) amplification and filtering with instrumentation amplifiers and Butterworth-type low pass filters; and (iii) processing and control, implemented on two PIC microcontrollers. The control of the robotics support is performed both by an admittance-based approach in parallel with a linear PI control. The quick response of this integrated control does not demand extra efforts from the user, thus providing a more natural sensation while walking. In particular, the system intends to detect whether the user is in the imminence of falling over, a likely scenario in eldercare.
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Clotet, Bellmunt Eduard. "Improving the quality of life of older adults and people with reduced mobility through an Assistant Personal Robot." Doctoral thesis, Universitat de Lleida, 2019. http://hdl.handle.net/10803/668681.
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L’increment en l’esperança de vida de les persones juntament amb el descens de la natalitat a nivell global està propiciant una tendència generalitzada cap a un model social de població envellida, causant un augment de les tasses de dependència de persones majors de 64 anys. En l’actualitat, l’accés de la població anciana a una assistència digna ha esdevingut un dels principals problemes de salut publica. La recerca de nous sistemes que permetin incrementar l’eficiència dels actuals models assistencials resultarà vital per tal de poder fer front a un futur fortament marcat per l’envelliment de la població. Aquesta tesi proposa l’ús del robot assistencial APR (Assistent Personal Robòtic) per tal de millorar l’assistència a persones grans i gent amb mobilitat reduïda mitjançant el desenvolupament d’un sistema de telepresència, la integració d’una aplicació que permeti al robot realitzar la tasca de caminador motoritzat intel·ligent, i un sistema de monitorització que permet detectar condicions ambientals potencialment perilloses en entorns domèstics i institucionals.El incremento en la esperanza de vida y el descenso de la natalidad a nivel global está propiciando una tendencia generalizada hacia un modelo social de población envejecida, causando un acrecentamiento sobre las tasas de dependencia de las personas con edades superiores a los 64 años. Actualmente, el acceso a una asistencia digna por parte de la población anciana se ha convertido en uno de los principales problemas de salud pública. La búsqueda de nuevos sistemas que permitan mejorar la eficiencia de los actuales modelos asistenciales resultará de vital importancia para poder afrontar un futuro fuertemente marcado por el envejecimiento de la población. Esta tesis presenta el uso del robot asistencial APR (Asistente Personal Robótico) para mejorar la asistencia a personas mayores y gente con movilidad reducida mediante el desarrollo de un sistema de tele presencia, la integración de una aplicación que permita al robot realizar la tarea de andador inteligente motorizado, y un sistema autonomo de monitorización que permita detectar condiciones ambientales potencialmente peligrosas en entornos domésticos e institucionales.
The general trend towards an increasing life expectancy and low fertility rates around the globe is fostering the evolution of the world population towards an aged society, causing a rise of the dependency rates for people aged over 64 years old. Providing access to a dignified assistance is becoming one of the main public health concerns. The research for new techniques that improve the currently available assistive methods will become a key factor in order to be able to cope with this ageing population. This thesis proposes the use of the assistive robot APR (Assistant Personal Robot) to improve the assistance provided to older adults and people with mobility impairments through the development of a telepresence system, the integration of an application that will allow the APR robot to be used as a motorized, intelligent walker device, and an autonomous monitoring platform aimed to detect potentially harmful ambient conditions in domestic and institutional environments.
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Lasota, Przemyslaw A. (Przemyslaw Andrzej). "Developing safe and efficient robotic assistants for close-proximity human-robot collaboration." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/90674.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2014.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 79-81).
As the field of robotics continues to advance and the capabilities of robots continue to expand, there is a strong incentive to introduce robots into traditionally human-only domains. By harnessing the complementary strengths of humans and robots, the human-robot team has the potential to achieve more together than neither could alone. To allow for the paradigm shift from isolation to collaboration, however, technologies in support of close-proximity human-robot interaction must be developed. The first contribution of this thesis is the development and evaluation of a real-time safety system designed specifically for close-proximity human-robot interaction. The developed safety system, which uses a continuously updated virtual representation of the workspace for accurate human-robot separation distance calculation, is shown to allow for safe human-robot collaboration at very small distances of separation and with a very low latency. Furthermore, it is shown that this soft real-time system does not require hardware modification, which makes it easy and inexpensive to deploy on current industrial robots. To understand how humans respond to adaptive robotic assistants, and whether the response leads to efficient and satisfying interaction, a robot control architecture capable of Human-Aware Motion Planning, a type of motion-level adaptation, is implemented. This architecture is then used in a human-subject experiment in which participants perform a collaborative task with the robot in two distinct motion planning modes: human-aware and standard. The fluency of the team in both modes is then compared with the use of quantitative metrics like task execution time, amount of concurrent motion, human idle time, robot idle time, and human-robot separation distance, as well as a subjective evaluation of the robot based on questionnaire responses. It is shown that Human-Aware Motion Planning leads to improvements across all quantitative metrics and to a more satisfied human co-worker.
by Przemyslaw A. Lasota.
S.M.
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Ahn, Jooeun Ph D. Massachusetts Institute of Technology. "Feasibility of novel gait training with robotic assistance : dynamic entrainment to mechanical perturbation to the ankle." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/67574.
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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 149-156).
Rehabilitation of human motor function is an issue of the utmost significance, and the demand for the effective rehabilitation service is even growing with the graying of the population. Robotic technology has provided promising ways to assist recovery of the motor function of upper extremities. In contrast, current robotic therapy for lower extremities has shown inferior efficacy. In this thesis, the source of the limited efficacy of current robotic walking therapy is addressed. Essential mechanical components for robustly stable walking are identified as energy dissipation and proper compensation. Based on these essential components, design criteria of effective robotic walking therapy are suggested as foot-ground interaction and ankle actuation. A novel strategy of robot aided walking therapy reflecting the design criteria is proposed; dynamically entraining human gait with periodic ankle torque from a robot. Experiments with normal subjects and neurologically impaired subjects support the feasibility of the proposed rehabilitation strategy. The gait period of subjects entrain to the periodic mechanical perturbation with a measurable basin of entrainment, and the entrainment always accompanies phase-locking so that the mechanical perturbation assists propulsion. These observations are affected neither by auditory feedback nor by a distractor task for normal subjects, and consistently observed in impaired subjects. A highly simplified one degree of freedom walking model without supra-spinal control or an intrinsic self-sustaining neural oscillator (a rhythmic pattern generator) encapsulated the essence of these observations. This suggests that several prominent limit-cycle features of human walking may stem from peripheral mechanics mediated by simple afferent feedback without significant involvement of supra-spinal control or central pattern generator. The competence of the highly simplified model supports that the proposed entrainment therapy may be effective for a wide range of neurological impairments.
by Jooeun Ahn.
Ph.D.
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Gao, Yixing. "User modelling for personalised dressing assistance by humanoid robots using multi-modal information." Thesis, Imperial College London, 2016. http://hdl.handle.net/10044/1/44113.
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To enable personalised assistance, assistive robots benefit from building a user-specific model, so that the assistance is customised to the particular set of user abilities. Among various tasks in home environments, assistive dressing, which is greatly beneficial to people with upper-body movement limitations, remains a challenging task for humanoid robots. In this thesis, we aim to design, implement, and evaluate user modelling methods which can enable humanoid robots to provide personalised dressing assistance. We begin by proposing a user modelling method using vision information. We use Gaussian mixture models (GMMs) to model the movement space of the human upper-body joints to learn the reachable area of each joint. We enabled a Baxter humanoid robot to plan its dressing motion using the GMMs of the human joints and real-time pose estimation. The dressing assistance is personalised by fulfilling a reachability criterion. To compensate for the disadvantages of using vision information only, we proposed an online iterative path optimisation method based on adaptive moment estimation. We enabled the Baxter robot to search for the optimal personalised dressing path for human users using force information. The dressing assistance is personalised by fulfilling a comfort criterion. Finally, to enable personalised dressing assistance fulfilling both the reachability and the comfort criteria, we proposed a user modelling method using multi-modal information by combining the GMMs of the human upper-body joints with the online iterative path optimisation. Experiments on both the synthetic dataset and the real-world assistive dressing data showed that the proposed method can achieve a balance between the two criteria when searching for the optimal path.
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Oliveira, Miguel Armando Riem de. "Automatic information and safety systems for driving assistance." Doctoral thesis, Universidade de Aveiro, 2013. http://hdl.handle.net/10773/10658.
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Doutoramento em Engenharia MecânicaO objeto principal desta tese é o estudo de algoritmos de processamento e representação automáticos de dados, em particular de informação obtida por sensores montados a bordo de veículos (2D e 3D), com aplicação em contexto de sistemas de apoio à condução. O trabalho foca alguns dos problemas que, quer os sistemas de condução automática (AD), quer os sistemas avançados de apoio à condução (ADAS), enfrentam hoje em dia. O documento é composto por duas partes. A primeira descreve o projeto, construção e desenvolvimento de três protótipos robóticos, incluindo pormenores associados aos sensores montados a bordo dos robôs, algoritmos e arquitecturas de software. Estes robôs foram utilizados como plataformas de ensaios para testar e validar as técnicas propostas. Para além disso, participaram em várias competições de condução autónoma tendo obtido muito bons resultados. A segunda parte deste documento apresenta vários algoritmos empregues na geração de representações intermédias de dados sensoriais. Estes podem ser utilizados para melhorar técnicas já existentes de reconhecimento de padrões, deteção ou navegação, e por este meio contribuir para futuras aplicações no âmbito dos AD ou ADAS. Dado que os veículos autónomos contêm uma grande quantidade de sensores de diferentes naturezas, representações intermédias são particularmente adequadas, pois podem lidar com problemas relacionados com as diversas naturezas dos dados (2D, 3D, fotométrica, etc.), com o carácter assíncrono dos dados (multiplos sensores a enviar dados a diferentes frequências), ou com o alinhamento dos dados (problemas de calibração, diferentes sensores a disponibilizar diferentes medições para um mesmo objeto). Neste âmbito, são propostas novas técnicas para a computação de uma representação multi-câmara multi-modal de transformação de perspectiva inversa, para a execução de correcção de côr entre imagens de forma a obter mosaicos de qualidade, ou para a geração de uma representação de cena baseada em primitivas poligonais, capaz de lidar com grandes quantidades de dados 3D e 2D, tendo inclusivamente a capacidade de refinar a representação à medida que novos dados sensoriais são recebidos.
The main object of this thesis is the study of algorithms for automatic information processing and representation, in particular information provided by onboard sensors (2D and 3D), to be used in the context of driving assistance. The work focuses on some of the problems facing todays Autonomous Driving (AD) systems and Advanced Drivers Assistance Systems (ADAS). The document is composed of two parts. The first part describes the design, construction and development of three robotic prototypes, including remarks about onboard sensors, algorithms and software architectures. These robots were used as test beds for testing and validating the developed techniques; additionally, they have participated in several autonomous driving competitions with very good results. The second part of this document presents several algorithms for generating intermediate representations of the raw sensor data. They can be used to enhance existing pattern recognition, detection or navigation techniques, and may thus benefit future AD or ADAS applications. Since vehicles often contain a large amount of sensors of different natures, intermediate representations are particularly advantageous; they can be used for tackling problems related with the diverse nature of the data (2D, 3D, photometric, etc.), with the asynchrony of the data (multiple sensors streaming data at different frequencies), or with the alignment of the data (calibration issues, different sensors providing different measurements of the same object). Within this scope, novel techniques are proposed for computing a multicamera multi-modal inverse perspective mapping representation, executing color correction between images for obtaining quality mosaics, or to produce a scene representation based on polygonal primitives that can cope with very large amounts of 3D and 2D data, including the ability of refining the representation as new information is continuously received.
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Velandia, Henry Roncancio. "Object detection and classication in outdoor environments for autonomous passenger vehicle navigation based on Data Fusion of Articial Vision System and LiDAR sensor." Universidade de São Paulo, 2014. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-24072016-152124/.
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This research project took part in the SENA project (Autonomous Embedded Navigation System), which was developed at the Mobile Robotics Lab of the Mechatronics Group at the Engineering School of São Carlos, University of São Paulo (EESC - USP) in collaboration with the São Carlos Institute of Physics. Aiming for an autonomous behavior in the prototype vehicle this dissertation focused on deploying some machine learning algorithms to support its perception. These algorithms enabled the vehicle to execute articial-intelligence tasks, such as prediction and memory retrieval for object classication. Even though in autonomous navigation there are several perception, cognition and actuation tasks, this dissertation focused only on perception, which provides the vehicle control system with information about the environment around it. The most basic information to be provided is the existence of objects (obstacles) around the vehicle. In formation about the sort of object it is also provided, i.e., its classication among cars, pedestrians, stakes, the road, as well as the scale of such an object and its position in front of the vehicle. The environmental data was acquired by using a camera and a Velodyne LiDAR. A ceiling analysis of the object detection pipeline was used to simulate the proposed methodology. As a result, this analysis estimated that processing specic regions in the PDF Compressor Pro xii image (i.e., Regions of Interest, or RoIs), where it is more likely to nd an object, would be the best way of improving our recognition system, a process called image normalization. Consequently, experimental results in a data-fusion approach using laser data and images, in which RoIs were found using the LiDAR data, showed that the fusion approach can provide better object detection and classication compared with the use of either camera or LiDAR alone. Deploying a data-fusion classication using RoI method can be executed at 6 Hz and with 100% precision in pedestrians and 92.3% in cars. The fusion also enabled road estimation even when there were shadows and colored road markers in the image. Vision-based classier supported by LiDAR data provided a good solution for multi-scale object detection and even for the non-uniform illumination problem.Este projeto de pesquisa fez parte do projeto SENA (Sistema Embarcado de Navegação Autônoma), ele foi realizado no Laboratório de Robótica Móvel do Grupo de Mecatrônica da Escola de Engenharia de São Carlos (EESC), em colaboração com o Instituto de Física de São Carlos (IFSC). A grande motivação do projeto SENA é o desenvolvimento de tecnologias assistidas e autônomas que possam atender às necessidades de diferentes tipos de motoristas (inexperientes, idosos, portadores de limitações, etc.). Vislumbra-se que a aplicação em larga escala desse tipo de tecnologia, em um futuro próximo, certamente reduzirá drasticamente a quantidade de pessoas feridas e mortas em acidentes automobilísticos em estradas e em ambientes urbanos. Nesse contexto, este projeto de pesquisa teve como objetivo proporcionar informações relativas ao ambiente ao redor do veículo, ao sistema de controle e de tomada de decisão embarcado no veículo autônomo. As informações mais básicas fornecidas são as posições dos objetos (obstáculos) ao redor do veículo; além disso, informações como o tipo de objeto (ou seja, sua classificação em carros, pedestres, postes e a própria rua mesma), assim como o tamanho deles. Os dados do ambiente são adquiridos através do emprego de uma câmera e um Velodyne LiDAR. Um estudo do tipo ceiling foi usado para simular a metodologia da detecção dos obstáculos. Estima-se que , após realizar o estudo, que analisar regiões especificas da imagem, chamadas de regiões de interesse, onde é mais provável encontrar um obstáculo, é o melhor jeito de melhorar o sistema de reconhecimento. Observou-se na implementação da fusão dos sensores que encontrar regiões de interesse usando LiDAR, e classificá-las usando visão artificial fornece um melhor resultado na hora de compará-lo com os resultados ao usar apenas câmera ou LiDAR. Obteve-se uma classificação com precisão de 100% para pedestres e 92,3% para carros, rodando em uma frequência de 6 Hz. A fusão dos sensores também forneceu um método para estimar a estrada mesmo quando esta tinha sombra ou faixas de cor. Em geral, a classificação baseada em visão artificial e LiDAR mostrou uma solução para detecção de objetos em várias escalas e mesmo para o problema da iluminação não uniforme do ambiente.
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Baumer, Eric. "Toward the Design of an Emotion-like State Generator for a Robotic Office Assistant." Honors in the Major Thesis, University of Central Florida, 2004. http://digital.library.ucf.edu/cdm/ref/collection/ETH/id/696.
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This item is only available in print in the UCF Libraries. If this is your Honors Thesis, you can help us make it available online for use by researchers around the world by following the instructions on the distribution consent form at http://library.ucf.edu/Systems/DigitalInitiatives/DigitalCollections/InternetDistributionConsentAgreementForm.pdf You may also contact the project coordinator, Kerri Bottorff, at kerri.bottorff@ucf.edu for more information.Bachelors
Engineering and Computer Science
Computer Science
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Damacharla, Praveen Lakshmi Venkata Naga. "Simulation Studies and Benchmarking of Synthetic Voice Assistant Based Human-Machine Teams (HMT)." University of Toledo / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1535119916261581.
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Soh, Harold Soon Hong. "Online spatio-temporal learning and prediction for adaptive robotic systems : applications in tactile classification and learning assistance by demonstration." Thesis, Imperial College London, 2013. http://hdl.handle.net/10044/1/17836.
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Successful biological systems adapt to change. Humans, for example, are capable of continual self-improvement and gain new skills with experience. Similar online learning characteristics would enable robotic systems to autonomously improve their capabilities over time. In this thesis, we focus on the problem of iteratively learning from multivariate time-series; the "raw material" that we use to make inferences about the future. We adopt a combined approach: gaining inspiration from biological systems, in particular recurrent neural networks, and merging these ideas with recent advances in statistical machine learning. The resulting algorithm --- the online echo-state Gaussian process (OESGP) --- learns in an online manner, produces predictive distributions and attains state-of-the-art results on a variety of benchmark problems. We further extend this method to networks of "infinite size" through a recursive kernel with automatic relevance determination. This allows for online optimisation of the hyper-parameters through stochastic natural gradient descent, which improves adaptability and alleviates the problem of reservoir parameter specification. Using this online infinite ESGP (OIESGP) as a building block, we address two challenging problems in robotics: online tactile learning using the iCub humanoid platform and smart mobility assistance on the ARTY smart wheelchair. For the former, we develop online generative and discriminative classifiers that learn new objects "on-the-fly" and refine older models with new sensory input. For the latter, we adopt a novel approach by applying imitation learning to derive assistive policies. We present an OIESGP-based probabilistic mixture model for learning when and how to appropriately assist, and demonstrate its effectiveness in simulation and real-world experiments with human subjects.
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Paradis, Noémie. "Développement d'une stratégie de mesure des efforts appliqués à un assistant ergonomique robotisé." Thesis, Université Laval, 2009. http://www.theses.ulaval.ca/2009/26402/26402.pdf.
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Chandramouli, Nitish. "Engine Idle Sailing with Driver Assistant Systems For Fuel Consumption Minimization." The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1523531254267084.
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Mathé, Nathalie. "Assistance intelligente au contrôle de processus : application à la télémanipulation spatiale." Toulouse, ENSAE, 1990. http://www.theses.fr/1990ESAE0012.
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L'utilisation de l'intelligence artificielle dans le cadre de l'assistance a l'opérateur fait intervenir des disciplines comme les sciences cognitives, l'ergonomie, l'interaction homme-machine et l'intelligence artificielle. Ce travail se situe également au carrefour de la théorie et de l'expérimentation. La première partie présente les problèmes théoriques poses par l'assistance a l'operateur dans un environnement dynamique. Un système d'assistance est un système d'interaction homme-machine par l'intermédiaire duquel un système physique peut être pilote. La prise en compte de l'operateur dans la boucle de contrôle nécessite d'analyser son activité cognitive. L'auteur présente un modèle cognitif fondé sur l'utilisation de connaissances procédurales dans des taches de contrôle de processus.
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Andriatrimoson, Antonio. "Assistance robotisée à la personne en environnement coopérant." Phd thesis, Université d'Evry-Val d'Essonne, 2012. http://tel.archives-ouvertes.fr/tel-00674653.
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La rencontre de l'intelligence ambiante et de la robotique d'assistance a donné naissance à ce que nous avons appelé robotique ambiante d'assistance car destinée à assister une personne en perte d'autonomie. Elle s'appuie sur l'existence de réseaux d'objets communicants présents dans l'environnement de la personne pour décliner un ensemble de services et de téléservices destinés à faciliter la vie quotidienne de cette personne et de son entourage. Un, voir plusieurs robots peuvent être présents dans cet environnement. Une communauté scientifique récente s'est construite autour de la robotique ubiquitaire. Tandis que les robots des générations précédentes ont été conçus pour réaliser des tâches spécifiques et construits en tant qu'unité indépendante, la nouvelle génération vise l'ubiquité. L'autonomie du robot est, dans ce cadre, obtenue par une interaction étroite entre le robot et l'environnement ambiant communicant. Jusqu'à ces dernières années le robot évoluait dans un environnement plutôt hostile qui ne lui facilitait pas la tâche. Dans le contexte de l'intelligence ambiante, les objets communicants de l'environnement peuvent jouer un rôle "facilitateur" en aidant le robot à se localiser, naviguer, rechercher un objet. Inversement, le robot peut être vu comme un objet communicant qui est mis à contribution par des services autres que l'assistance à la personne en perte d'autonomie. Le premier objectif de cette thèse est de proposer une architecture informatique permettant la coopération entre le robot et les objets communicants présents dans l'environnement tels que les capteurs ou les actionneurs. Une des difficultés est que le robot évolue dans un environnement encombré, changeant de façon non prédictible au sens où, par exemple, les capteurs ambiants peuvent être disponibles/indisponibles, accessibles/inaccessibles. Il est donc nécessaire de disposer de mécanismes d'adaptation face à des situations diverses voir imprévues afin qu'au final, le robot réussisse sa mission, se déplacer d'un point A à un point B, si possible en tenant compte de contraintes telles que le degré d'urgence ou le niveau de précision. Nous avons aussi pris en compte une autre contrainte, d'ordre éthique, dimension très débattue dans les projets de robotique d'assistance à domicile, qui est le degré d'intrusion. L'intrusion d'une intelligence ambiante capable d'agir et de percevoir, en présence de la personne, occasionne une gêne pour celle-ci et son entourage. Dans le cadre de cette thèse, nous évaluerons notre architecture informatique de coopération entre le robot et le réseau de capteurs, ainsi que les mécanismes d'adaptation avec la tâche de localisation du robot. L'ambition est de fournir un résultat de localisation à tout prix, quitte à ce qu'il soit dégradé et ce, quelle que soit la situation rencontrée. Pour répondre à cette obligation de résultat, nous avons introduit la notion d'effet. Le système cherche à se rapprocher le plus près possible de l'effet demandé. C'est la solution acceptable, au sens de certains critères, qui est retenue. Ce n'est pas forcément la solution optimale. Le deuxième objectif de la thèse est de proposer une méthode de localisation par coopération robot-environnement communicant. Notre ambition est de localiser avec certitude le robot dans une zone de l'habitat. Les dimensions de cette zone peuvent être très variables. Ces dimensions dépendent des besoins de la tâche, voire de l'enchaînement de tâches, que prévoit de réaliser le robot à cet instant, mais découlent aussi de facteurs comme la dispersion des capteurs dans l'environnement, la qualité des mesures disponibles. Nous partons du principe qu'une bonne connaissance de sa situation, la certitude d'être dans cette zone avec une précision connue, permettra au robot d'adopter la meilleure stratégie possible pour assurer sa mission qui est de retrouver la personne dans son habitat. Aussi, la position et l'orientation du robot doivent être données avec une précision garantie. C'est moins la précision que la certitude que le robot appartienne à cette zone qui importe. Bien que l'approche de localisation ait pour ambition d'utiliser les mesures provenant d'un réseau de capteurs, les plus variés possibles, situés dans l'environnement ou sur le robot, elle n'a pas vocation, du moins dans sa version de base, à répondre à tous les cas de figure. Nous allons préciser le périmètre de son utilisation. L'un des intérêts de cette méthode est d'être apte à utiliser des mesures issues de capteurs du robot et de l'environnement. Les mesures sont des angles connus avec une certaine incertitude. La localisation est obtenue par multilatération. La version de l'algorithme proposé dans cette thèse a pour vocation d'une part, de montrer l'intérêt de l'approche par intervalles, et d'autre part, de disposer d'une méthode de localisation qui sera utilisée par les agents capteurs du SMA décrit plus haut. Des améliorations peuvent être apportées sur plusieurs points. Tout d'abord, les mesures aberrantes qui violent de l'hypothèse d'erreur bornée ne sont pas traitées. Il existe des pistes dans la littérature pour y remédier. Par ailleurs, il a été considéré, pour simplifier la présentation de l'approche, que la localisation des capteurs et des marqueurs de l'environnement était connue. Mais il est facile d'introduire cette incertitude dans l'algorithme.
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Fosch, Villaronga Eduard. "Towards a legal and ethical framework for personal care robots. Analysis of person carrier, physical assistant and mobile servant robots." Doctoral thesis, Universitat Autònoma de Barcelona, 2017. http://hdl.handle.net/10803/457739.
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Podria donar-se el cas que qui creï un robot que interactua amb humans desconegui quins són els requeriments legals que ha de seguir per a complir amb la llei, ja sigui perquè no existeixi una llei específica per a dit producte, perquè no sigui molt clar quins són els impactes que dits dispositius tenen a nivell legal o simplement perquè la llei és massa genèrica i sigui necessària una concreció al cas concret. D’altra banda, no és menys cert que el ràpid avenç de les noves tecnologies també dificulta la resposta del sistema legislatiu: per exemple, la regulació de vehicles i transport no contempla un vehicle autònom sense conductor com a categoria, així com tampoc un hominoide que va pel carrer gaudeix de cap categoria concreta com altres (vianant, motocicleta, camió) tenen. Per aclarir, així doncs, quins són els aspectes legals a tenir en compte davant la creació d’una nova tecnologia – en aquest cas un robot – és important conduir un anàlisi dels diferents impactes que aquests poden tenir a nivell legal.
Aquesta avaluació s’hauria de fer, primer de tot, amb les regulacions existents i així determinar si la creació tecnològica es manté dins l’espai de llibertat legal. Si dit espai no s’oposa a la creació, els roboticistes podran continuar desenvolupant-la. En canvi, si els roboticistes troben algunes limitacions bé podran 1) ajustar el robot a les demandes del marc regulador existent; 2) iniciar una negociació amb el legislador per a canviar la llei, de manera que el robot compleixi amb la nova normativa; o 3) dur a terme el pla original i assumir el risc de no ser conforme a la normativa.
El legislador pot, per altra banda, discutir les regulacions existents amb els desenvolupadors de robots i donar una resposta jurídica en conseqüència. En un món idíl·lic, els robots no comporten cap espècie de risc i, per tant, qualsevol amenaça podria abordar-se des de la prevenció, i qualsevol oportunitat des de la facilitació. La realitat nogensmenys és molt més complexa i tot sovint els impactes són ben incerts, sobretot quan es tracta de robots enfocats a l’assistència personal. Així doncs, el legislador haurà de fer front a dita incertesa, a efectes ambigus, i a efectes desconeguts.
Com veiem, legislador i creador de tecnologia robòtica hauran d’arribar a un acord per tal d’establir aquests nous escenaris incerts i inesperats. Un anàlisi exhaustiu i rigorós d’aquesta realitat evolutiva seria, per tant, útil per a entendre millor la tecnologia i preparar el camí per a un futur marc legal i ètic d’aquestes tecnologies robòtiques. Com es pot entreveure, aquest és un objectiu ampli i complex, tenint en compte la gran varietat de tecnologies robòtiques emergents. És per aquest motiu que aquesta tesi se centra en la identificació i l’avaluació dels impactes dels robots per a l’assistència personal. En concret, la tesi acompanya als roboticistes en el seu camí de compliment legal tot utilitzant les més innovadores metodologies d’avaluació de l’impacte (impact assessment en anglès).
Al dur a terme la metodologia de l’impacte es poden identificar més fàcilment els buits legals existents així com la manca de claredat del sistema normatiu. Dita informació s’ha recollit al llarg d’aquest treball per a què pugui ser considerada pel futur legislador que s’ocupi de la creació del marc jurídic per als robots d’assistència personal, incloent transportadors de persones, assistents físics i robots mòbils de servei.Roboticists building robots that interact with humans may be clueless about what regulations apply to their product. They might not even know whether they are legally responsible for their products. Sometimes, even law is not prepared to promptly accommodate new types of technology, e.g. driverless cars. Therefore, when a new robot is created or a new function/use is introduced, an assessment of the impacts should be carried out. This assessment should be made first against regulations to make sure that this new technology or its new use remains within the existing liberty space. If the creators of the robot do not encounter any limitations, they can then proceed with its development. On the contrary, if there are some limitations, robot creators will either (1) adjust the robot to comply with the existing regulatory framework; (2) start a negotiation with the regulators to change the law, so that the original robot is compliant with a new regulation; or (3) carry out the original plan and risk to be non- compliant. The regulator can discuss existing (or lacking) regulations with robot developers and give a legal response accordingly. In an ideal world, robots are clear of impacts and therefore threats can be responded in terms of prevention and opportunities in form of facilitation. In reality, the impacts of robots are often uncertain and less clear, especially when they are inserted in care applications. Therefore, regulators will have to address uncertain risks, ambiguous impacts and yet unknown effects. Technology is rapidly developing, and regulators and robot creators inevitably have to come to terms with new and unexpected scenarios. A thorough analysis of this new and continuously evolving reality could be useful to better understand the current situation and pave the way to the future creation of a legal and ethical framework that takes into proper account all these new technologies. This is clearly a wide and complex goal, considering the variety of new technologies available today and those under development. Therefore, this thesis focuses on the evaluation of the impacts of personal care robots. In particular, it analyzes how roboticists adjust their creations to the existing regulatory framework for legal compliance purposes. By carrying out the impact assessment analysis, existing regulatory gaps and lack of regulatory clarity can be highlighted. These gaps should of course be considered further on by lawmakers for a future legal framework for personal care robot.
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Geravand, Milad [Verfasser], Angelika [Akademischer Betreuer] [Gutachter] Peer, and Dongheui [Gutachter] Lee. "Safe and Adaptive Control Approaches for Mobility Assistance Robots / Milad Geravand ; Gutachter: Angelika Peer, Dongheui Lee ; Betreuer: Angelika Peer." München : Universitätsbibliothek der TU München, 2017. http://d-nb.info/1127225294/34.
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Dardouri, Fawzia. "Dispositif d’assistance associé à des robots manipulateurs utilisés dans des procédés de fabrication/FSW." Thesis, Paris, ENSAM, 2018. http://www.theses.fr/2018ENAM0036/document.
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Les robots industriels sont très utilisés aujourd’hui dans de nombreuses applications industrielles pour leur polyvalence et leur facilité programmation. Cependant, malgré leurs performances, ces robots ne sont pas adaptés à certains procédés de fabrication où des forces uniformes et élevées ainsi qu'une précision de positionnement appropriée sont requises. Le présent travail est axé sur la robotisation de l'une des opérations à forte charge, le soudage par friction-malaxage (FSW). Cette méthode d’assemblage s’utilise pour assembler des pièces en phase solide. Pour cette raison, une force de poussée très élevée est nécessaire pour ramollir le matériau pendant cette opération. En raison des forces élevées, la position de l'outil dévie de la trajectoire désirée. Dans ces travaux de thèse, la possibilité d'utiliser un dispositif d’assistance associé à un robot manipulateur est étudiée afin d’améliorer sa capacité de charge et sa rigidité. Dans une première partie, une modélisation géométrique, cinématique et dynamique ainsi que de déformation d’un robot industriel Kuka KR500-2MT est développée en localisant la flexibilité au niveau des articulations. La deuxième partie consiste à améliorer les performances de la robotisation du procédé FSW par différentes méthodes qui sont la modification du système de compensation de gravité, l’ajout d’une masse additionnelle sur l’outil, l’ajout d’une structure parallèle et l’utilisation de deux robots en mode coopératif. Les deux dernières solutions consistent à exercer des forces directement sur l’outillage. De cette façon, le mouvement de l'outil est principalement piloté par le robot industriel, tandis que le dispositif d’assistance (soit la structure parallèle ou le deuxième robot utilisé dans le système coopératif) assure la génération de forces de poussées très élevées. Des algorithmes d’optimisation ont été utilisés afin de minimiser les déviations de l’outil et donc réduire les défauts de soudage. Finalement, une étude de l’espace de travail est menée en utilisant le logiciel Catia. La connaissance de l'espace de travail pour les solutions proposées nous permet d’estimer les applications de soudage possibles ainsi que leur comparaisonNowadays industrial robots are used in many manufacturing applications because of their versatility and easy applicability. Notwithstanding their performance these robots are not suitable for some manufacturing processes where uniform and high forces together with suitable precision of position are required. The present research is focused on the robotization of one of the high-thrust operations, the friction stir welding (FSW). This method for connecting two parts works while the connected materials are in the solid phase. For this reason a very high axial force is needed to soften the material during the welding process. Due to these high forces the position of the tool of a serial robot deviates from the desired trajectory. In this PhD work, the possibility of using a parallel structure device is investigated to improve the load capacity and stiffness of a heavy loadmanipulator robot. In a first part, the geometric, kinematic and dynamic modeling and the flexibility of an industrial robot, Kuka KR500-2MT are developed by locating flexibility at the joints. The second part is to improve the performance of the FSW process using an industrial robot. So different methods are examined: the modification of the gravity compensation system, the addition of an additional mass on the tool, the addition of a parallel structure and the use of a cooperative system. The last two solutions exert forces directly on the process tool. In this way the movement of the tool is mainly generated by the industrial serial robot, while the assistive device (either the parallel structure or the second robot used in the cooperatif system) ensures the generation of very high axial forces. Optimization algorithms are developed to minimize deviations and thus reduce welding defects. Finally, a study of the workspace is studied using Catia software. Knowledge of the system workspace with the proposed solutions allows to estimate the possible welding applications that can be achieved using these systems
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Blanchet, Katleen. "Au coeur de l’interaction humain-robot collaboratif : comment concevoir une assistance personnalisée au profil utilisateur ?" Electronic Thesis or Diss., Institut polytechnique de Paris, 2021. http://www.theses.fr/2021IPPAS001.
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La transformation des usines de production s’accélère, dirigée par les progrès de la robotique collaborative et de la science des données. L’organisation du travail évolue en conséquence, ce qui impacte directement les conditions de travail des opérateurs. Diminution d’autonomie, surcharge d’informations, cadence accrue, les opérateurs doivent modifier leurs habitudes et apprendre à collaborer avec le robot. Dans ce contexte, l’objectif de ce travail de recherche est d’améliorer la qualité de vie au travail des opérateurs, lors de la réalisation d’une tâche collaborative avec contact physique, par une assistance personnalisée au profil utilisateur. Dans la littérature, les assistances s'appuient sur des dispositifs d'observation externes, sources de stress, et proposent exclusivement des ajustements du comportement du robot, basés sur des connaissances à priori. Ainsi, ces assistances ne s'adaptent pas dynamiquement aux variations du comportement de l'homme. Afin de pallier ces verrous scientifiques, cette étude présente deux contributions. En premier lieu, nous proposons une méthodologie d'extraction d'informations haut niveau sur le profil utilisateur à partir des signaux bruts du robot, appliquée à l'expertise. Dans un second temps, nous soumettons une approche hybride d'assistance au profil, qui combine l'apprentissage par renforcement centré sur l'humain et l'approche symbolique (ontologie et raisonnement logique), pour guider les opérateurs vers une montée en compétence. Cette synergie garantit une adaptation en ligne aux besoins des utilisateurs tout en réduisant le processus d'apprentissage. Puis, nous enrichissons l’assistance motrice (robotique) par une assistance informative. Nous avons démontré, par une simulation et des expérimentations en conditions réelles sur trois cas d'usage robotique, la cohérence de notre profil ainsi que l'effet positif de l'assistance sur l'acquisition des compétences. Nous créons ainsi un climat plus propice à l'épanouissement professionnel en diminuant la charge mentaleThe transformation of production plants is accelerating, driven by advances in collaborative robotics and data science. As a result, the organisation of work is changing, directly affecting the working conditions of operators. Loss of autonomy, information overload, increased pace, operators have to change their habits and learn to collaborate with the robot. In this context, the aim of this research work is to improve the operators quality of life at work, while performing a physical collaborative task, by means of user profile-based assistance. In the literature, the assistance mainly relies on external observation devices, causes of stress, and proposes exclusively a priori-based adjustments of the robot's behaviour. Thus, these assistance do not dynamically adapt to human behaviour variations. In order to overcome these challenges, this study presents two contributions. Firstly, we propose a methodology for extracting high-level information on the user profile from the robot raw signals, which is applied to expertise. We then introduce a hybrid approach to profile-based assistance which combines human-centered reinforcement learning and symbolic logic (ontology and reasoning) to guide operators towards skill improvement. This synergy guarantees online adaptation to user needs while reducing the learning process. Then, we extend the robotic assistance with informative assistance. We have demonstrated, through simulation and experiments in real conditions on three robotic usecases, the consistency of our profile as well as the positive effect of the assistance on the skills acquisition. We thereby create a more favourable environment for professional satisfaction by reducing the mental workload
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Ophoff, Madri. "Distributing intelligence in the wireless control of a mobile robot using a personal digital assistant." Thesis, Nelson Mandela Metropolitan University, 2011. http://hdl.handle.net/10948/1355.
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Personal Digital Assistants (PDAs) have recently become a popular component in mobile robots. This compact processing device with its touch screen, variety of built-in features, wireless technologies and affordability can perform various roles within a robotic system. Applications include low-cost prototype development, rapid prototyping, low-cost humanoid robots, robot control, robot vision systems, algorithm development, human-robot interaction, mobile user interfaces as well as wireless robot communication schemes. Limits on processing power, memory, battery life and screen size impact the usefulness of a PDA in some applications. In addition various implementation strategies exist, each with its own strengths and weaknesses. No comparison of the advantages and disadvantages of the different strategies and resulting architectures exist. This makes it difficult for designers to decide on the best use of a PDA within their mobile robot system. This dissertation examines and compares the available mobile robot architectures. A thorough literature study identifies robot projects using a PDA and examines how the designs incorporate a PDA and what purpose it fulfils within the system it forms part of. The dissertation categorises the architectures according to the role of the PDA within the robot system. The hypothesis is made that using a distributed control system architecture makes optimal use of the rich feature set gained from including a PDA in a robot system’s design and simultaneously overcomes the device’s inherent shortcomings. This architecture is developed into a novel distributed intelligence framework that is supported by a hybrid communications architecture, using two wireless connection schemes. A prototype implementation illustrates the framework and communications architecture in action. Various performance measurements are taken in a test scenario for an office robot. The results indicate that the proposed framework does deliver performance gains and is a viable alternative for future projects in this area.
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Chirca, Mihai. "Perception pour la navigation et le contrôle des robots mobiles. Application à un système de voiturier autonome." Thesis, Clermont-Ferrand 2, 2016. http://www.theses.fr/2016CLF22763/document.
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Ce travail porte sur la conception d’un système capable d’effectuer des manœuvres de parking automatique plus polyvalent que ceux actuellement commercialisés, tout en conservant une définition technique des capteurs extéroceptifs limités en prix et en gabarit. Un cas d’usage typique est de permettre au véhicule de se rendre automatiquement dans la zone de garage du domicile de son propriétaire, cette fonction est classiquement appelée voiturier autonome à domicile. Partant de l’existant et connaissant les performances attendues, une architecture système et une architecture fonctionnelle ont été tracées. Cela a permis de constituer un ensemble de fonctions interconnectées qui ont participé dans la création d’une architecture software modulaire ainsi que dans la création des interfaces de connexion au véhicule prototype. Dans un premier temps, nous explorons la problématique de la détection d’obstacles. Partant d’un système propriétaire fermé de capteurs ultrason, nous avons réussi à réaliser une carte d’obstacle à un niveau de précision supérieur au produit d’origine. Une augmentation de la limite de détection des capteurs ultrason a été réalisée utilisant une technique Structure from Motion. Ces informations d’occupation ont été exploitées par la suite pour traiter la problématique de détection du couloir de navigation. Dans un second temps, la fonction de localisation du véhicule est abordée. Trois techniques de localisation collaborent pour une robustesse de fonctionnement continu : la localisation odométrique, la localisation par appariement des grilles d’occupation et la localisation par appariement entre une image actuelle et une base d’images adaptée à notre besoin et améliorée en termes de temps de calcul. Enfin, nous nous sommes intéressés à la problématique de navigation du véhicule. Nous avons considéré résolue la problématique de contrôle des actionneurs pour le suivi d’une trajectoire donnée et nous nous sommes concentrés sur la création d’une trajectoire admissible. Nous avons développé une technique de planification locale pour l’évitement d’un d’obstacles non cartographiés. Pour la construction de trajectoire nous avons utilisé des courbes à géométrie connue et avons montré qu’en utilisant trois clothoïdes et éventuellement deux arcs de cercle (si le braquage maximal est atteint) il est possible de créer des trajectoires à courbure continue adaptées à notre situation. Nous avons montré que l’utilisation d’une carte d’obstacles nous permet de prédire plus en avance de la possibilité d’emprunter un certain couloir de navigation. Chacune des parties de ce travail a fait l’objet de validations en simulation mais aussi sur des données réelles démontrant la pertinence des approches proposées quant à l’application viséeThis work covers the conception of a system capable to do automatic parking maneuvers more versatile than those already commercialized, respecting the technical definition of exteroceptive sensors limited by costs and weight. A typical use case is to set a vehicle to park autonomously in the parking lot of a home, function generally called autonomous home valet parking. Taking from the existing and knowing the expected performances, a system architecture and a functional architecture were drawn. This allowed to compose an assembly of interconnected functions that participated in the creation of modular software architecture, as well as in the creation of connection interfaces with the prototype vehicle. First, we explored the obstacle detection problem. Having a closed property system with ultrasonic sensors, we managed to build an obstacle map with a higher precision level than the build-in product. An increasing limit detection of the ultrasonic sensors was developed using the Structure from Motion technique. This obstacle occupancy information was exploited afterwards in order to solve the detection problem of the navigation corridors. Second, the vehicle localization is addressed. Three localization techniques work for a continuous functioning robustness: the localization by odometry, the localization by occupancy grid map matching and the localization by comparing the current image with the images stored in a database adapted to our needs and improved by computing means. Last, we interested in the vehicle navigation problem. We considered solved the actuator control problem for the tracking of a given trajectory and we concentrated on an admissible trajectory planning. We developed a local path planning technique for avoiding the unmapped obstacles. In order to build the trajectory we used curves of known geometry and we proved that by using clothoides and eventually two circle arches (if maximum steering angle achieved) it is therefore be possible to create trajectories with continuous curves adapted to our situation. We confirmed that using an obstacle map will allow us to predict forehead the possibility to take a specific navigation corridor. Each part of this work was validated in simulation as well as on real data, proving the pertinence of the proposed approaches for the intended application
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Arezki, Amine. "Détection de trajectoires et analyse de comportement pour l'assistance aux piétons." Versailles-St Quentin en Yvelines, 2012. http://www.theses.fr/2012VERS0029.
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Nous présentons dans cette thèse une méthode pour assurer l'assistance ambiante dans un environnement urbain à l'aide d'un agent mobile. L'objectif est d'anticiper la nécessité d’aide. Par conséquent, nous devons comprendre le comportement et le besoin des piétons. Nous déterminons comment se focaliser sur un sujet en mouvement et comment utiliser l'interaction entre l’agent mobile et les piétons, afin de confirmer un besoin et fournir une assistance. Pour cela, le concept de type de trajectoire est utilisé pour définir la première étape de l'analyse, appelant l'étape d'approche. En combinant cette étape avec les informations du terrain fournies par l'agent mobile, un certain type d'assistance sera provoqué. En ce qui concerne l'observation, deux points de vue différents sont utilisés pour détecter les besoins d'assistance, c'est à dire, le « Fix intelligent Device » et « Ambient intelligents Devices », les deux communiquant par wifi. Le « Ambient intelligents Devices » se compose d’une caméra fixe permettant la capture de mouvements de piétons et un algorithme pour classer les trajectoires à l'aide d’un réseau de neurones. Cependant, les résultats de classification sont envoyés à l'agent mobile. Dans cette thèse, le « Touche Ambiante Intelligent Device » est un robot mobile à trois degrés de liberté qui intègre une caméra 3D (KinectTM) pour détecter la pose du corps humain, ainsi qu’une tablette à écran tactile pour pouvoir interagir avec le sujet. Nous concluons, en démontrons qu'il est possible d'avoir une intervention humaine que pour les cas critiquesIn this PhD thesis we present a method to assure ambient assistance in urban environment, using a mobile agent, in order to anticipate assistance if needed. Therefore, we have to understand the human behavior and The pedestrian’s needs. We determine how to focus on a moving subject and how to use interaction between A mobile agent and A pedestrian for confirmation of the need to provide assistance. Therefore, the trajectory type concept is used to define the first step of analyses, which is called the approach step. Combining this step with the field information provided by the mobile agent, a certain type of assistance will be insured. In terms of observation, two different views are employed to detect assistance requirements, i. E. , the Fix Intelligent Device and the Ambient Intelligent Devices, both communicating by wireless. The Fix Intelligent Device is composed by a fix camera standing on a very top view allowing the detection of possible motions and an algorithm to classify the trajectories, using neural network. This classification result is subsequently communicated to the mobile agent. In our thesis, a Touch Ambient Intelligent Device is represented by mobile robot with three degrees of freedom, including a 3D camera (KinectTM) to detect human body poses, and additionally a touch screen tablet to interact with the subject. The conclusion can be made that human intervention may be required only IN critical cases
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Hutley, Richard. "TEACHER PERCEPTIONS OF THE ROLE OF SOCIAL ROBOTS AS TEACHING ASSISTANTS IN THE ONLINE TEACHING OF STUDENTS WITH AUTISM SPECTRUM DISORDER." Scholarly Commons, 2021. https://scholarlycommons.pacific.edu/uop_etds/3743.
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Students with autism spectrum disorder (ASD) are the fastest-growing group of children with special education needs. ASD affects individuals from all walks of life, regardless of race, ethnicity, educational levels of family members, or socio-economic backgrounds. People on the autism spectrum have difficulty communicating and establishing socio-emotional connections with other human beings, making teaching those with ASD challenging for their human teachers.Most research in the field of autism has focused on the clinical aspects of the condition and on the individuals who are on the spectrum. However, research into the perception of the teachers charged with educating ASD students is more limited. In addition, while a wide range of technologies, including artificial intelligence (AI) and social robots, have been used in various forms to assist with teaching ASD students, research into teacher perceptions with respect to the use of these technologies is also limited.
The purpose of this study was to examine teacher perceptions of the use of a social robot as a teaching assistant to help them educate students on the autism spectrum. Furthermore, due to the COVID-19 pandemic outbreak, this study was conducted under unprecedented circumstances, when all schools throughout the United States were closed, and all teaching was conducted online using video conferencing technologies. Teachers from an autism specialist school in northern California were asked to use a social robot as a teaching assistant with a selection of ASD students during their online Zoom-based video conference teaching sessions. Data were gathered through observations of these sessions and through teacher interviews and a focus group.
This study was conducted using the persuasive technologies conceptual framework. This framework was enhanced to include the teacher as a new persuasive influencer. The findings from this study revealed that ASD teachers found the social robot to be a useful tool to use as a teaching assistant. In particular, teachers found the use of a social robot teaching assistant offered a new approach to teaching and new ways to communicate with and engage their ASD students. Overall, students responded well to instructions and feedback given by the robot. However, student reactions ranged from neutral to very engaged, based upon the complexity of the task the student was undertaking and their general interest in technologically related topics. Importantly, no student reacted negatively to the inclusion of the robot. This report highlights a variety of operational challenges that the teachers experience in integrating the robot into their teaching practices and identifies a range of future research opportunities.
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Wöbbecke, Tirza Ruth [Verfasser], Thomas M. [Akademischer Betreuer] Freiman, Andrea [Akademischer Betreuer] Spyrantis, Thomas M. [Gutachter] Freiman, and Elke [Gutachter] Hattingen. "Analyse der Genauigkeit des neurochirurgischen Operationsroboters Robotic Surgery Assistant (ROSA) / Tirza Ruth Wöbbecke ; Gutachter: Thomas M. Freiman, Elke Hattingen ; Thomas M. Freiman, Andrea Spyrantis." Frankfurt am Main : Universitätsbibliothek Johann Christian Senckenberg, 2020. http://d-nb.info/1222588951/34.
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Pila, Ophélie. "Apport d’un entraînement utilisant un dispositif robotisé sur la motricité du membre supérieur chez des patients présentant une hémiparésie après un accident vasculaire cérébral." Thesis, Paris Est, 2018. http://www.theses.fr/2018PESC0078.
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Le syndrome de parésie spastique consécutif à un accident vasculaire cérébral (AVC) comprend plusieurs composantes dont la rétraction musculaire, la parésie sensible à l’étirement et l’hyperactivité musculaire, trois symptômes concourant à une altération de la fonction motrice du membre supérieur dans l’hémiparésie. Les progrès d’un patient atteint par ce syndrome peuvent reposer sur deux types de plasticité cérébrale : post-lésionnelle et liée à l’activité. Les maîtres-mots pour optimiser une récupération motrice par la plasticité liée à l’activité sont : intensité, répétition, effort, attention portée au mouvement, tâche dirigée vers un but et mouvement actif. Au regard des différentes techniques de rééducation, la thérapie utilisant un dispositif robotisé répond à ces principes stimulateurs de la plasticité cérébrale liée à l’activité. Cependant les modalités exactes de l’intervention robotisée et sa durée souhaitable n’ont pas été clarifiées.Une première étude rétrospective a montré que les bénéfices cliniques et cinématiques associés à l’utilisation combinée de l’ergothérapie conventionnelle et de la robot-thérapie sur au moins trois mois suggèrent l’intérêt d’une durée de traitement longue chez des patients aux limitations modérées en phase tardive de la période subaiguë. Une deuxième étude rétrospective suggère qu’à quatre ans, l’évolution lente de la fonction motrice pour ces mêmes patients semble fonction de la sévérité initiale, où finalement les moins bons régressent et les meilleurs s’améliorent un peu. Enfin, une étude prospective randomisée contrôlée en phase subaiguë a démontré que l’entraînement de mouvements sur robot sans assistance améliore l’amplitude active d’extension du coude plus que le même entraînement avec assistance au besoin, qui pourtant a permis au patient d’effectuer environ un tiers de mouvements en plus par séance. Aussi, le facteur difficulté de l’effort prévaudrait sur celui du nombre de répétitions pour stimuler la plasticité cérébrale. Ce dernier principe ne s’exprime cependant que sur le mouvement élémentaire qui est directement entraîné par le robot, en l’occurrence l’extension du coude, tandis que d’autres mouvements fondamentaux dans l’utilisation du bras humain, par exemple la flexion de l’épaule en charge, l’extension du poignet et la préhension digitale, ne sont pas exercés avec la plupart des versions actuelles des robots d’assistance à la rééducation. L’autre limite majeure de la thérapie assistée par un dispositif robotisé est qu’elle ignore la maladie musculaire présentée par les patients (rétractions), ne s’adressant qu’à la composante neurologique de la parésie spastique (parésie de l’agoniste et cocontraction de l’antagoniste). C’est ainsi que malgré le grand nombre de répétitions de mouvements qu’elle permet, nous n’avons pas constaté que la thérapie assistée par un robot se montrait plus efficace que la thérapie conventionnelle seule sur la progression de la fonction globale du membre supérieur en phase subaiguë après un AVC.Les données issues de ce travail devraient permettre aux thérapeutes ayant accès à des dispositifs robotisés d’aide à la rééducation du membre supérieur d’affiner les modalités et la durée de leur prise en charge. L’association de la thérapie assistée par robots à d’autres thérapies pourrait permettre d’optimiser la réduction des troubles moteurs dans l’hémiparésie après un AVCFollowing stroke, the syndrome of deforming spastic paresis includes several components in which three main symptoms, soft tissue contracture, stretch-sensitive paresis and spastic muscle overactivity, impede motor function. Patient progress may utilize two types of brain plasticity: lesion-induced and behavior-induced. The key notions to optimize motor recovery through behavior-induced plasticity are: repetition, effort, attention to movement, goal-directed task and active movement. Robot-assisted therapy fulfills all these conditions. However, the exact modalities of use and optimal duration are yet to be defined.From a first retrospective study, the magnitude of the clinical and kinematic benefits associated with the combined use of robot-assisted and conventional occupational therapies during three months suggest the value of a long duration treatment in the late subacute phase for moderately impaired hemiparetic patients. A second retrospective study observed the four-year long-term evolution of motor function for these patients, which appears to be related to the baseline severity, in which the more severely affected deteriorate and the less severe patients improve a little. Finally, a prospective randomized controlled study demonstrated that non-assisted movement training was associated with greater active elbow extension improvement than training with the assist-as-needed modality even though the latter offered the patient 33% movements more in each session. Therefore, the difficulty of effort appears to be a more effective factor of brain plasticity than the number of movement repetitions. This principle has however been demonstrated only for the primary movement directly trained by the robot, that is, elbow extension. The other movements that are essential in human upper limb use, such as shoulder flexion, wrist extension, gross and fine digit prehension, are not trained with the most current versions of robots used in upper limb rehabilitation. In addition, another important limitation of robot-assisted therapy is that it ignores the muscle disorder (antagonist shortening) of spastic paresis by focusing only on the neural disorder component (paresis in agonists and cocontraction in antagonists). Despite the high number of movement repetitions in robot-assisted therapy, our prospective study has not been able to show superiority of robot-assisted therapy over conventional occupational therapy in improving overall upper limb motor function in the subacute phase after stroke.The findings of this work should help therapists with access to robotic devices to refine the modalities and duration of their use in patient care. Combining robot-assisted therapy with other therapies might optimize the reduction of motor disorder in hemiparesis following stroke
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Karakkat, Narayanan Vishnu. "Characterizing assistive shared control through vision-based and human-aware designs for wheelchair navigation assistance." Thesis, Rennes, INSA, 2016. http://www.theses.fr/2016ISAR0018/document.
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Les premiers documents attestant l'utilisation d'une chaise à roues utilisée pour transporter une personne avec un handicap datent du 6ème siècle en Chine. À l'exception des fauteuils roulants pliables X-frame inventés en 1933, 1400 ans d'évolution de la science humaine n'ont pas changé radicalement la conception initiale des fauteuils roulants. Pendant ce temps, les progrès de l'informatique et le développement de l'intelligence artificielle depuis le milieu des années 1980 ont conduit inévitablement à la conduite de recherches sur des fauteuils roulants intelligents. Plutôt que de se concentrer sur l'amélioration de la conception sous-jacente, l'objectif principal de faire un fauteuil roulant intelligent est de le rendre le plus accessible. Même si l'invention des fauteuils roulants motorisés ont partiellement atténué la dépendance d'un utilisateur à d'autres personnes pour la réalisation de leurs actes quotidiens, certains handicaps qui affectent les mouvements des membres, le moteur ou la coordination visuelle, rendent impossible l'utilisation d'un fauteuil roulant électrique classique. L'accessibilité peut donc être interprétée comme l'idée d'un fauteuil roulant adaptée à la pathologie de l'utilisateur de telle sorte que il / elle soit capable d'utiliser les outils d'assistance. S'il est certain que les robots intelligents sont prêts à répondre à un nombre croissant de problèmes dans les industries de services et de santé, il est important de comprendre la façon dont les humains et les utilisateurs interagissent avec des robots afin d'atteindre des objectifs communs. En particulier dans le domaine des fauteuils roulants intelligents d'assistance, la préservation du sentiment d'autonomie de l'utilisateur est nécessaire, dans la mesure où la liberté individuelle est essentielle pour le bien-être physique et social. De façon globale, ce travail vise donc à caractériser l'idée d'une assistance par contrôle partagé, et se concentre tout particulièrement sur deux problématiques relatives au domaine de la robotique d'assistance appliquée au fauteuil roulant intelligent, à savoir une assistance basée sur la vision et la navigation en présence d'humains. En ciblant les tâches fondamentales qu'un utilisateur de fauteuil roulant peut avoir à exécuter lors d'une navigation en intérieur, une solution d'assistance à bas coût, basée vision, est conçue pour la navigation dans un couloir. Le système fournit une assistance progressive pour les tâches de suivi de couloir et de passage de porte en toute sécurité. L'évaluation du système est réalisée à partir d'un fauteuil roulant électrique de série et robotisé. A partir de la solution plug and play imaginée, une formulation adaptative pour le contrôle partagé entre l'utilisateur et le robot est déduite. De plus, dans la mesure où les fauteuils roulants sont des dispositifs fonctionnels qui opèrent en présence d'humains, il est important de considérer la question des environnements peuplés d'humains pour répondre de façon complète à la problématique de la mobilité en fauteuil roulant. En s'appuyant sur les concepts issus de l'anthropologie, et notamment sur les conventions sociales spatiales, une modélisation de la navigation en fauteuil roulant en présence d'humains est donc proposée. De plus, une stratégie de navigation, qui peut être intégrée sur un robot social (comme un fauteuil roulant intelligent), permet d'aborder un groupe d'humains en interaction de façon équitable et de se joindre à eux de façon socialement acceptable. Enfin, à partir des enseignements tirés des solutions proposées d'aide à la mobilité en fauteuil roulant, nous pouvons formaliser mathématiquement un contrôle adaptatif partagé pour la planification de mouvement relatif à l'assistance à la navigation. La validation de ce formalisme permet de proposer une structure générale pour les solutions de navigation assistée en fauteuil roulant et en présence d'humainsEarliest records of a wheeled chair used to transport a person with disability dates back to the 6m century in China. With the exception of the collapsible X-frame wheelchairs invented in 1933, 1400 years of human scientific evolution has not radically changed the initial wheelchair design. Meanwhile, advancements in computing and the development of artificial intelligence since the mid-1980s has inevitably led to research on Intelligent Wheelchairs. Rather than focusing on improving the underlying design, the core objective of making a wheelchair intelligent is to make it more accessible. Even though the invention of the powered wheelchairs have partially mitigated a user's dependence on other people for their daily routines, some disabilities that affect limb movements, motor or visual coordination, make il impossible for a user to operate a common powered wheelchair. Accessibility can also thus be thought of as the idea, where the wheelchair adapts to the user malady such that he/she is able to utilize its assistive capabilities. While it is certain that intelligent robots are poised to address a growing number of issues in the service and medical care industries, it is important to resolve how humans and users interact with robots in order to accomplish common objectives. Particularly in the assistive intelligent wheelchair domain, preserving a sense of autonomy with the user is required, as individual agency is essential for his/her physical and social well-being. This work thus aims to globally characterize the idea of assistive shared control while particularly devoting the attention to two issues within the intelligent assistive wheelchair domain viz. vision-based assistance and human-aware navigation.Recognizing the fundamental tasks that a wheelchair user may have to execute in indoor environments, we design lowcost vision-based assistance framework for corridor navigation. The framework provides progressive assistance for the tasks of safe corridor following and doorway passing. Evaluation of the framework is carried out on a robotized off-theshelf wheelchair. From the proposed plug and play design, we infer an adaptive formulation for sharing control between user and robot. Furthermore, keeping in mind that wheelchairs are assistive devices that operate in human environments, it is important to consider the issue of human-awareness within wheelchair mobility. We leverage spatial social conventions from anthropology to surmise wheelchair navigation in human environments. Moreover, we propose a motion strategy that can be embedded on a social robot (such as an intelligent wheelchair) that allows il to equitably approach and join a group of humans in interaction. Based on the lessons learnt from the proposed designs for wheelchair mobility assistance, we can finally mathematically formalize adaptive shared control for assistive motion planning. ln closing, we demonstrate this formalism in order to design a general framework for assistive wheelchair navigation in human environments