15 research outputs found
Faciliter la téléopération d'un robot mobile non-holonome (application au maintien à domicile des personnes ùgées)
Le maintien de personnes ĂągĂ©es au domicile le plus longtemps possible est censĂ© apporter une rĂ©ponse Ă la croissance de l espĂ©rance de vie en occident et a des coĂ»ts toujours croissants pour la sociĂ©tĂ©. ce travail de thĂšse a Ă©tĂ© rĂ©alisĂ© dans le cadre du projet CompanionAble, qui vise a fournir une solution intĂ©grĂ©e maison intelligente - robot aux personnes ĂągĂ©es, vivant seules. L'objectif est de maintenir un confort en fin de vie Ă un niveau Ă©levĂ© et Ă traiter les situations dangereuses pour elles, comme les chutes, avant que les consĂ©quences ne deviennent trop importantes. Les Ă©lĂ©ments qui m intĂ©ressent dans ce cadre sont le robot et l opĂ©rateur, qui se trouve Ă l extĂ©rieur de la maison, et qui peut tĂ©lĂ©opĂ©rer le robot en vue d interagir avec la personne ĂągĂ©e, soit pour des activitĂ©s ludiques (visioconfĂ©rence, exercices de stimulation cognitive), soit pour des situations d urgence (chute, perte de connaissance de la personne ĂągĂ©e). Pour maintenir les coĂ»ts du systĂšme Ă un niveau raisonnable, on a envisagĂ© l utilisation de l internet public pour la connexion entre le site maĂźtre (oĂč se trouve l opĂ©rateur) et le site esclave (oĂč se trouve le robot). Une autre spĂ©cificitĂ© du notre systĂšme est le fait que les utilisateurs ne sont pas des spĂ©cialistes de la tĂ©lĂ©opĂ©ration. J ai donc cherchĂ© Ă faciliter la tĂąche de pilotage du robot, dans ce contexte spĂ©cifique. Du cĂŽtĂ© de l interface, on a cherchĂ© Ă aider l opĂ©rateur traitant les problĂšmes liĂ©s aux dĂ©lais de transmission (possibles Ă cause de l utilisation de l internet) et lui donner la possibilitĂ© d utiliser une interface Ă©cologique, qui utilise des Ă©lĂ©ments de rĂ©alitĂ© augmentĂ©e. Du cĂŽtĂ© du robot, on a rajoutĂ© un nouveau mode de commande, semi-autonome, pour que l opĂ©rateur soit plus Ă l aise pendant qu il le dĂ©place. Pour finir, on a examinĂ© la possibilitĂ© de passer d un mode de commande Ă un autre, pour que l opĂ©rateur soit le moins affectĂ© que possible par des perturbations et que les performances du systĂšme restent acceptables. Les solutions proposĂ©es ont Ă©tĂ© implantĂ©e sur un systĂšme rĂ©el et Ă©valuĂ©es au laboratoire et en situations rĂ©elles dans le cadre du projet europĂ©en CompanionAble.Enabling older people to live in their homes as long as possible is supposed to respond to the growth of life expectancy in the west and the increasing costs to society. The present thesis was conducted in the framework of the companionable, which aims to provide an integrated smart home - robot for the elderly, which are living alone. The objective is to maintain the end of life comfort at a high level and to deal with dangerous situations for them, such as falls, before the consequences become too costly. The elements that interest me in this context are the robot and the remote operator, which is outside the home, and can teleoperate the robot to interact with the elderly, for recreational activities ( videoconferencing, cognitive stimulation exercises) or for emergency situations (falls, loss of consciousness, etc.). To keep the system costs to a reasonable level, we considered using the public internet as the connection between the master site (where the operator is) and the slave site (where the robot is). another unique feature of our system is that users are not specialists in teleoperation. As such, i tried to ease the task of controlling the robot, in this specific context. On the remote control interface side, we tried to help the operator in dealing with the problems associated with transmission delays (due to the possible use of the internet) and we gave him/her the option of using an ecological interface, which uses elements of augmented reality. On the robot side, we added a new command mode, semi-autonomous, so that the operator is more at ease as he/she controls the robot. finally, we examined the possibility of switching from one control mode to another, so that the operator is the least affected by possible disturbances and system performance is kept acceptable. The proposed solutions have been implemented on a real system and evaluated in the laboratory and in real situations, in the framework of the european CompanionAble project.EVRY-Bib. Ă©lectronique (912289901) / SudocSudocFranceF
An Original Approach for a Better Remote Control of an Assistive Robot
Many researches have been done in the field of assistive robotics in the last few years. The first application field was helping with the disabled people\\u27s assistance. Different works have been performed on robotic arms in three kinds of situations. In the first case, static arm, the arm was principally dedicated to office tasks like telephone, fax... Several autonomous modes exist which need to know the precise position of objects. In the second configuration, the arm is mounted on a wheelchair. It follows the person who can employ it in more use cases. But if the person must stay in her/his bed, the arm is no more useful. In a third configuration, the arm is mounted on a separate platform. This configuration allows the largest number of use cases but also poses more difficulties for piloting the robot. The second application field of assistive robotics deals with the assistance at home of people losing their autonomy, for example a person with cognitive impairment. In this case, the assistance deals with two main points: security and cognitive stimulation. In order to ensure the safety of the person at home, different kinds of sensors can be used to detect alarming situations (falls, low cardiac pulse rate...). For assisting a distant operator in alarm detection, the idea is to give him the possibility to have complementary information from a mobile robot about the person\\u27s activity at home and to be in contact with the person. Cognitive stimulation is one of the therapeutic means used to maintain as long as possible the maximum of the cognitive capacities of the person. In this case, the robot can be used to bring to the person cognitive stimulation exercises and stimulate the person to perform them. To perform these tasks, it is very difficult to have a totally autonomous robot. In the case of disabled people assistance, it is even not the will of the persons who want to act by themselves. The idea is to develop a semi-autonomous robot that a remote operator can manually pilot with some driving assistances. This is a realistic and somehow desired solution. To achieve that, several scientific problems have to be studied. The first one is human-machine-cooperation. How a remote human operator can control a robot to perform a desired task? One of the key points is to permit the user to understand clearly the way the robot works. Our original approach is to analyse this understanding through appropriation concept introduced by Piaget in 1936. As the robot must have capacities of perceptio
High level assisted control mode based on SLAM for a remotely controlled robot
International audienceOne aim of ambient assistive technologies is to reduce long term hospitalization for elderly people, especially with pathologies such as Mild Cognitive Impairment (MCI). The smart environment assists these people and their families with safety and cognitive stimulation, so they stay as long as possible at home. The originality comes from using the robot in the elderly person's home. This robot is remote controlled by a distant user, a therapist or a relative, for determining alarming situations or for participating in stimulation exercises. Several modes are available for controlling the robot. This paper deals with an assisted control mode in which the remote user gives to the robot one goal and the robot reaches the goal by itself. During the robot movement, the user can dynamically change the current goal. An important hypothesis is that the robot has no a priori knowledge of its environment at the beginning. The knowledge will increase with time and the planned trajectory will be refreshed at two levels: a local one - faster but not always sufficient - and a global one - slower but which always finds a path if one exists. The idea is to work only with local information, using the robot sensors, the operator keeping the high level control. To assure that control, the remote operator uses video feedback and information from a laser range scanner
Facilitating the remote control of a non-holonomuous mobile robot : application to home-support for the elderly people
Le maintien de personnes ĂągĂ©es au domicile le plus longtemps possible est censĂ© apporter une rĂ©ponse Ă la croissance de lâespĂ©rance de vie en occident et a des coĂ»ts toujours croissants pour la sociĂ©tĂ©. ce travail de thĂšse a Ă©tĂ© rĂ©alisĂ© dans le cadre du projet CompanionAble, qui vise a fournir une solution intĂ©grĂ©e maison intelligente - robot aux personnes ĂągĂ©es, vivant seules. L'objectif est de maintenir un confort en fin de vie Ă un niveau Ă©levĂ© et Ă traiter les situations dangereuses pour elles, comme les chutes, avant que les consĂ©quences ne deviennent trop importantes. Les Ă©lĂ©ments qui mâintĂ©ressent dans ce cadre sont le robot et lâopĂ©rateur, qui se trouve Ă lâextĂ©rieur de la maison, et qui peut tĂ©lĂ©opĂ©rer le robot en vue dâinteragir avec la personne ĂągĂ©e, soit pour des activitĂ©s ludiques (visioconfĂ©rence, exercices de stimulation cognitive), soit pour des situations dâurgence (chute, perte de connaissance⊠de la personne ĂągĂ©e). Pour maintenir les coĂ»ts du systĂšme Ă un niveau raisonnable, on a envisagĂ© lâutilisation de lâinternet public pour la connexion entre le site maĂźtre (oĂč se trouve lâopĂ©rateur) et le site esclave (oĂč se trouve le robot). Une autre spĂ©cificitĂ© du notre systĂšme est le fait que les utilisateurs ne sont pas des spĂ©cialistes de la tĂ©lĂ©opĂ©ration. Jâai donc cherchĂ© Ă faciliter la tĂąche de pilotage du robot, dans ce contexte spĂ©cifique. Du cĂŽtĂ© de lâinterface, on a cherchĂ© Ă aider lâopĂ©rateur traitant les problĂšmes liĂ©s aux dĂ©lais de transmission (possibles Ă cause de lâutilisation de lâinternet) et lui donner la possibilitĂ© dâutiliser une interface Ă©cologique, qui utilise des Ă©lĂ©ments de rĂ©alitĂ© augmentĂ©e. Du cĂŽtĂ© du robot, on a rajoutĂ© un nouveau mode de commande, semi-autonome, pour que lâopĂ©rateur soit plus Ă lâaise pendant quâil le dĂ©place. Pour finir, on a examinĂ© la possibilitĂ© de passer dâun mode de commande Ă un autre, pour que lâopĂ©rateur soit le moins affectĂ© que possible par des perturbations et que les performances du systĂšme restent acceptables. Les solutions proposĂ©es ont Ă©tĂ© implantĂ©e sur un systĂšme rĂ©el et Ă©valuĂ©es au laboratoire et en situations rĂ©elles dans le cadre du projet europĂ©en CompanionAble.Enabling older people to live in their homes as long as possible is supposed to respond to the growth of life expectancy in the west and the increasing costs to society. The present thesis was conducted in the framework of the companionable, which aims to provide an integrated smart home - robot for the elderly, which are living alone. The objective is to maintain the end of life comfort at a high level and to deal with dangerous situations for them, such as falls, before the consequences become too costly. The elements that interest me in this context are the robot and the remote operator, which is outside the home, and can teleoperate the robot to interact with the elderly, for recreational activities ( videoconferencing, cognitive stimulation exercises) or for emergency situations (falls, loss of consciousness, etc.). To keep the system costs to a reasonable level, we considered using the public internet as the connection between the master site (where the operator is) and the slave site (where the robot is). another unique feature of our system is that users are not specialists in teleoperation. As such, i tried to ease the task of controlling the robot, in this specific context. On the remote control interface side, we tried to help the operator in dealing with the problems associated with transmission delays (due to the possible use of the internet) and we gave him/her the option of using an ecological interface, which uses elements of augmented reality. On the robot side, we added a new command mode, semi-autonomous, so that the operator is more at ease as he/she controls the robot. finally, we examined the possibility of switching from one control mode to another, so that the operator is the least affected by possible disturbances and system performance is kept acceptable. The proposed solutions have been implemented on a real system and evaluated in the laboratory and in real situations, in the framework of the european CompanionAble project
Faciliter la téléopération d'un robot mobile non-holonome
Enabling older people to live in their homes as long as possible is supposed to respond to the growth of life expectancy in the west and the increasing costs to society. The present thesis was conducted in the framework of the companionable, which aims to provide an integrated smart home - robot for the elderly, which are living alone. The objective is to maintain the end of life comfort at a high level and to deal with dangerous situations for them, such as falls, before the consequences become too costly. The elements that interest me in this context are the robot and the remote operator, which is outside the home, and can teleoperate the robot to interact with the elderly, for recreational activities ( videoconferencing, cognitive stimulation exercises) or for emergency situations (falls, loss of consciousness, etc.). To keep the system costs to a reasonable level, we considered using the public internet as the connection between the master site (where the operator is) and the slave site (where the robot is). another unique feature of our system is that users are not specialists in teleoperation. As such, i tried to ease the task of controlling the robot, in this specific context. On the remote control interface side, we tried to help the operator in dealing with the problems associated with transmission delays (due to the possible use of the internet) and we gave him/her the option of using an ecological interface, which uses elements of augmented reality. On the robot side, we added a new command mode, semi-autonomous, so that the operator is more at ease as he/she controls the robot. finally, we examined the possibility of switching from one control mode to another, so that the operator is the least affected by possible disturbances and system performance is kept acceptable. The proposed solutions have been implemented on a real system and evaluated in the laboratory and in real situations, in the framework of the european CompanionAble project.Le maintien de personnes ĂągĂ©es au domicile le plus longtemps possible est censĂ© apporter une rĂ©ponse Ă la croissance de l'espĂ©rance de vie en occident et a des coĂ»ts toujours croissants pour la sociĂ©tĂ©. ce travail de thĂšse a Ă©tĂ© rĂ©alisĂ© dans le cadre du projet CompanionAble, qui vise a fournir une solution intĂ©grĂ©e maison intelligente - robot aux personnes ĂągĂ©es, vivant seules. L'objectif est de maintenir un confort en fin de vie Ă un niveau Ă©levĂ© et Ă traiter les situations dangereuses pour elles, comme les chutes, avant que les consĂ©quences ne deviennent trop importantes. Les Ă©lĂ©ments qui m'intĂ©ressent dans ce cadre sont le robot et l'opĂ©rateur, qui se trouve Ă l'extĂ©rieur de la maison, et qui peut tĂ©lĂ©opĂ©rer le robot en vue d'interagir avec la personne ĂągĂ©e, soit pour des activitĂ©s ludiques (visioconfĂ©rence, exercices de stimulation cognitive), soit pour des situations d'urgence (chute, perte de connaissance... de la personne ĂągĂ©e). Pour maintenir les coĂ»ts du systĂšme Ă un niveau raisonnable, on a envisagĂ© l'utilisation de l'internet public pour la connexion entre le site maĂźtre (oĂč se trouve l'opĂ©rateur) et le site esclave (oĂč se trouve le robot). Une autre spĂ©cificitĂ© du notre systĂšme est le fait que les utilisateurs ne sont pas des spĂ©cialistes de la tĂ©lĂ©opĂ©ration. J'ai donc cherchĂ© Ă faciliter la tĂąche de pilotage du robot, dans ce contexte spĂ©cifique. Du cĂŽtĂ© de l'interface, on a cherchĂ© Ă aider l'opĂ©rateur traitant les problĂšmes liĂ©s aux dĂ©lais de transmission (possibles Ă cause de l'utilisation de l'internet) et lui donner la possibilitĂ© d'utiliser une interface Ă©cologique, qui utilise des Ă©lĂ©ments de rĂ©alitĂ© augmentĂ©e. Du cĂŽtĂ© du robot, on a rajoutĂ© un nouveau mode de commande, semi-autonome, pour que l'opĂ©rateur soit plus Ă l'aise pendant qu'il le dĂ©place. Pour finir, on a examinĂ© la possibilitĂ© de passer d'un mode de commande Ă un autre, pour que l'opĂ©rateur soit le moins affectĂ© que possible par des perturbations et que les performances du systĂšme restent acceptables. Les solutions proposĂ©es ont Ă©tĂ© implantĂ©e sur un systĂšme rĂ©el et Ă©valuĂ©es au laboratoire et en situations rĂ©elles dans le cadre du projet europĂ©en CompanionAble
Smart retina as a contour-based visual interface
International audienceThe purpose of this work is to provide a robust vision-based input device. In our system, a programmable retina is looking at the user who sends commands by moving his hand. The fusion between the acquisition and the processing functions of the retina allows a close adaptation to the lighting conditions and to the dynamic range of the scene. Thanks to its optical input and massive parallelism, the retina computes efficiently the contours of the moving objects. This feature has nice properties in terms of motion detection capabilities and allows a dramatic reduction in the volume of data to be output of the retina. An external low-power processor then performs global computations on the output data, such as extreme points or geometric moments, which are temporally filtered to generate a command
Smart retina as a contour-based visual interface
International audienceThe purpose of this work is to provide a robust vision-based input device. In our system, a programmable retina is looking at the user who sends commands by moving his hand. The fusion between the acquisition and the processing functions of the retina allows a close adaptation to the lighting conditions and to the dynamic range of the scene. Thanks to its optical input and massive parallelism, the retina computes efficiently the contours of the moving objects. This feature has nice properties in terms of motion detection capabilities and allows a dramatic reduction in the volume of data to be output of the retina. An external low-power processor then performs global computations on the output data, such as extreme points or geometric moments, which are temporally filtered to generate a command
Remote control of an assistive robot: three guidelines for designing shared control modes
International audienceIn the robotics community, numerous works deal with robots autonomy. In the field of assistive robotics dedicated to dependant persons at home or in institution, the level of autonomy is not sufficient to make the service reliable. One solution is to use a remote robot and to propose to the distant operator different kinds of control assistance, allowing the robot more and more autonomy. We propose here three principles to elaborate control modes shared between the operator and the robot: develop intuitive commands, give transparent information back to the user, define simple and contextual command interface. We illustrate these three principles with an implementation on the mobile robots of IBISC lab
Téléopération d'un robot d'assistance : trois principes pour l'élaboration de modes de commande partagée
National audienceDans la communauté robotique, de nombreux travaux portent actuellement sur l'autonomie des robots. Dans le cadre d'une utilisation d'assistance à des personnes dépendantes, à domicile, ou en institution, le niveau d'autonomie est insuffisant pour apporter le service demandé. Une solution est d'utiliser un robot commandé à distance en proposant à l'opérateur des assistances pour la commande apportant de plus en plus d'autonomie au robot. Nous proposons ici trois principes pour l'élaboration de modes de commande partagée entre l'opérateur et le robot : développer des commandes intuitives, fournir à l'opérateur un retour d'informations transparent et définir une interface de commande simple et contextuelle. Nous illustrons ces trios principes par une implantation sur les robots mobiles du laboratoire