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Interfaces haptiques en tâches de contrôle pour personnes handicapées moteurs

Abstract : This work lies within the general framework of the driving assistance for people with motor disabilities and proposes to address this issue experimentally on a real system, with emphasis on the optimization of the human-machine cooperation. The objective of this thesis consists especially in the implementation and the assessment of a haptic interface for the control of a powered wheelchair for people with motor disabilities. The interfaces used for this purpose are the force feedback joystick sidewinder2(tm) and the haptic device phantom omni(tm). Moreover, the use of a laser range sensor allows gathering information about the wheelchair environment. We use ergonomic efficiency measures such as the tasks execution time, the errors and the workload in order to establish criteria for evaluating our system. The methodology and the practical aspects of this study are exposed, justified and discussed based particularly on the research work described in the literature about the use of haptic interfaces to control robotic and / or remote controlled systems. The evaluation of such a system aims to compare the driving performance of a powered wheelchair controlled by a force feedback device compared to a conventional control. The results are statistically analyzed. A theoretical study is also proposed based on the modelling of the driver-vehicle system and conclusions about the validity and relevance of the tested models are presented
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https://hal.univ-lorraine.fr/tel-01749072
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Mohammed Amine Hadj Abdelkader. Interfaces haptiques en tâches de contrôle pour personnes handicapées moteurs. Autre. Université Paul Verlaine - Metz, 2011. Français. ⟨NNT : 2011METZ028S⟩. ⟨tel-01749072⟩

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