Commande des robots destinés à interagir physiquement avec l'humain

Amener les robots à partager le même environnement que les humains apparaît l'évolution naturelle vers une robotique plus avancée, à mi-chemin entre la robotique industrielle d'aujourd'hui et les robots humanoïdes versatiles de demain. Cette éventuelle coexistence a le potentiel immense de produire un impact considérable sur plusieurs domaines liés à la vie de tous les jours tels que 1) la réhabilitation, où des thérapeutes et des robots pourront collaborer et offrir du soutien aux patients, 2) les dispositifs d'assistance robotique envers les personnes âgées ou handicapées, pour faciliter les tâches quotidiennes et 3) la chirurgie assistée. Outre ces trois domaines d'application, il est fort possible que l'impact le plus significatif de l'implantation d'un tel concept se fera au niveau du domaine manufacturier. Dans ce domaine, une synergie efficace entre l'humain et le robot peut être envisagée en combinant les formidables capacités humaines de raisonnement et d'adaptation face aux environnements non structurés avec l'inépuisable force d'un robot. Toutefois, la création d'une telle génération de robots coopératifs présente plusieurs défis, tant sur les plans mécaniques et sensoriels qu'au niveau de la commande. Cette thèse amène des réponses concrètes au défi que constitue la commande des robots destinés à interagir et coopérer avec les humains, proposant des solutions aux problèmes des mouvements coopératifs ou encore à la réaction aux collisions. Elle présente notamment une nouvelle méthode de commande basée sur l'analyse des intentions humaines en temps réel, permettant la production de mouvements coopératifs beaucoup plus intuitifs pour l'humain. Elle s'attaque aussi au problème de la stabilité du contrôleur, reconnu comme une difficulté inhérente aux robots évoluant en mouvement contraint. En effet, étant données les propriétés physiques variables de l'humain, telle la rigidité de ses bras, il est possible qu'un robot devienne instable subitement lorsque mis en contact direct avec celui-ci, engendrant ainsi d'évidents problèmes de sécurité. Au-delà des algorithmes de commande de haut niveau, cette thèse aborde de nouvelles techniques d'asservissement qui sont mieux adaptées à la mécanique particulière de ces robots. En effet, dans le but de coexister avec les humains sans risquer de les blesser, il est entendu que ces robots devront être conçus différemment, de manière à réduire leur impédance mécanique et leur capacité de transmettre de la puissance en cas de collision. Dans de telles circonstances, les régulateurs linéaires conventionnels seront bien peu efficaces dans le suivi des consignes demandées. La méthode introduite est une adaptation de la commande prédictive, bien connue dans l'industrie chimique, à la commande des manipulateurs

Superior Facial Expression, But Not Identity Recognition, in Mirror-Touch Synesthesia

Simulation models of expression recognition contend that to understand another's facial expressions, individuals map the perceived expression onto the same sensorimotor representations that are active during the experience of the perceived emotion. To investigate this view, the present study examines facial expression and identity recognition abilities in a rare group of participants who show facilitated sensorimotor simulation (mirror-touch synesthetes). Mirror-touch synesthetes experience touch on their own body when observing touch to another person. These experiences have been linked to heightened sensorimotor simulation in the shared-touch network (brain regions active during the passive observation and experience of touch). Mirror-touch synesthetes outperformed nonsynesthetic participants on measures of facial expression recognition, but not on control measures of face memory or facial identity perception. These findings imply a role for sensorimotor simulation processes in the recognition of facial affect, but not facial identity

The miR-17∼92 microRNA cluster Is a global regulator of tumor metabolism

SummaryA central hallmark of cancer cells is the reprogramming of cellular metabolism to meet the bioenergetic and biosynthetic demands of malignant growth. Here, we report that the miR-17∼92 microRNA (miRNA) cluster is an oncogenic driver of tumor metabolic reprogramming. Loss of miR-17∼92 in Myc+ tumor cells leads to a global decrease in tumor cell metabolism, affecting both glycolytic and mitochondrial metabolism, whereas increased miR-17∼92 expression is sufficient to drive increased nutrient usage by tumor cells. We mapped the metabolic control element of miR-17∼92 to the miR-17 seed family, which influences cellular metabolism and mammalian target of rapamycin complex 1 (mTORC1) signaling through negative regulation of the LKB1 tumor suppressor. miR-17-dependent tuning of LKB1 levels regulates both the metabolic potential of Myc+ lymphomas and tumor growth in vivo. Our results establish metabolic reprogramming as a central function of the oncogenic miR-17∼92 miRNA cluster that drives the progression of MYC-dependent tumors

Event-based haptic vibration synthesis using a recursive filter for lower limb prosthetics

Providing a safe and rich environment to achieve ambulatory rehabilitation of the elderly, accident victims, or physically impaired patients, has motivated many researchers to develop lower limb prosthetic systems able to transmit physical stimuli at the skin surface. To this end, we propose a novel event-based method of synthesizing the vibratory characteristics of different types of material, such as broken stone, concrete, snow, sand, and earth, during walking, by using automatically generated Infinite Impulse Response (IIR) filters with pseudo-randomized coefficients to ensure a unique vibration at every step. As a first step, theoretical results were obtained by providing a simulated force input signal into the IIR filter's Real-Time Simulink model. The outcomes proved to be promising and demonstrated that the synthesized signals are highly comparable to the measured material response in both time and frequency domains. A comparison of the signals obtained by the proposed IIR filter approach and a physical model based technique is presented. Finally, this paper presents a new lower limb prosthetic-skin interface with the capabilities of rendering interactions measured at the foot such as vibrations and pressure points

The impact of simultaneously applying normal stress and vibrotactile stimulation for feedback of exteroceptive information

Commercially available prosthetic hands do not convey any tactile information, forcing amputees to rely solely on visual attention. A promising solution to this problem is haptics, which could lead to new prostheses in which tactile information is conveyed between the amputee and the artificial limb. However, the haptic feedback must be optimized so that amputees can use it effectively; and although several studies have examined how specific haptic feedback systems can transmit certain types of tactile information, there has not yet been much research on the effects of superposing two or more types of feedback at the same location, which might prove to be more effective than using a single type of feedback alone. This paper investigates how the simultaneous application of two different types of haptic feedback—vibration and normal stress—impacts the human sensory perception of each separate feedback type. These stimuli were applied to glabrous skin on the forearms of 14 participants. Our experiments tested whether participants experienced more accurate sensory perception, compared to vibration or normal stress alone, when vibration was applied at the same time as the normal stress, at either the same location, or at a different location 6 cm away. Results indicate that although participants' perception of the normal stress diminished when vibration was applied at the same location, the same combination improved their perception of the vibration. Apparently, vibration has a negative impact upon the ability to perceive normal stress, whether applied at the same or a different location; whereas the opposite is true for the effect of normal stress upon the perception of vibration