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Assistance Robotics Implementation of human-like visuo-motor synergies

LMP. Assistance Robotics Implementation of human-like visuo-motor synergies on a teleoperated mobile device. Daniel R Mestre 1 , Yves Rybarczyk 1 , Philippe Hoppenot 2 , Etienne Colle 2 1 Mouvement & Perception Lab (LMP), CNRS, Marseille, France

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Assistance Robotics Implementation of human-like visuo-motor synergies

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  1. LMP Assistance Robotics Implementation of human-like visuo-motor synergies on a teleoperated mobile device Daniel R Mestre1, Yves Rybarczyk1, Philippe Hoppenot2, Etienne Colle2 1Mouvement & Perception Lab (LMP), CNRS, Marseille, France 2Complex Systems Lab (LSC), CNRS, Evry, France E-mail: mestre@laps.univ-mrs.fr 2005 Technology and Persons with Disabilities conference

  2. ARPH : Assistance by Robot for People with Handicap, in collaboration with AFM (Association Française contre les Myopathies) 2005 Technology and Persons with Disabilities conference

  3. ARM: Assistive Robotic Manipulator Pan-tilt camera Ultrasonic ring Odometer Command control station 2005 Technology and Persons with Disabilities conference

  4. Exact Dynamics b.v.(www.exactdynamics.nl) Booth 203, Marriott 2005 Technology and Persons with Disabilities conference

  5. Assistive Robotic Manipulator Pan-tilt camera Ultrasonic ring Odometer Command control station 2005 Technology and Persons with Disabilities conference

  6. Control station terminal 2005 Technology and Persons with Disabilities conference

  7. Goal-seeking behavior Avoidance behavior Global scheme of operation in autonomous mode 2005 Technology and Persons with Disabilities conference

  8. Optimal path computed Planned path Khepera Actual path 2005 Technology and Persons with Disabilities conference

  9. Advantages of the approach Cost-effective Low quality captors Human-like (compatible) Hierarchical strategy (planning & navigation) Avoidance and goal-seeking behaviors Linear speed is inversely related to angular speed 2005 Technology and Persons with Disabilities conference

  10. Movement’s velocity is proportional to the radius of curvature Viviani & Terzuolo (Neuroscience, 1982) 2005 Technology and Persons with Disabilities conference

  11. Disadvantages of the autonomous approach Errors due to the poor quality of captors Full automation is not possible Exploration, changes in plan during action,… 2005 Technology and Persons with Disabilities conference

  12. Human-machine cooperation is needed Task allocation Appropriation (distal attribution) • Human like behaviors • Speed/curvature relationships • Gaze/motion relationships (on the robot) • Camera control (human interface) 2005 Technology and Persons with Disabilities conference

  13. Where we look when we steer Land, M.F. & Lee, D.N. (1994) 2005 Technology and Persons with Disabilities conference

  14. 2005 Technology and Persons with Disabilities conference

  15. J. Wann (2004) 2005 Technology and Persons with Disabilities conference

  16. Distribution of gaze location on the road 2005 Technology and Persons with Disabilities conference

  17. Experimental study 2005 Technology and Persons with Disabilities conference

  18. Task : slalom w/ different curvatures 2005 Technology and Persons with Disabilities conference

  19. Increase linear speed Increase left angular speed Increase right angular speed Condition 1: fixed camera Decrease linear speed 2005 Technology and Persons with Disabilities conference

  20. Robot’s mode of control (fixed camera) Angular speed Operator’s commands Linear speed trajectory 2005 Technology and Persons with Disabilities conference

  21. Increase linear speed Camera  right Condition 2: mobile camera Camera left  Decrease linear speed 2005 Technology and Persons with Disabilities conference

  22. Robot’s mode of control (mobile camera) Camera angle (CA) Operator’s commands Angular speed (AS) AS= f(CA) Linear speed (L) L = 1 - |AS| trajectory 2005 Technology and Persons with Disabilities conference

  23. Results 2 groups of 7 subjects (healthy volunteers) After training, 4 trials on the slalom 2005 Technology and Persons with Disabilities conference

  24. Required time to complete the task 2005 Technology and Persons with Disabilities conference

  25. Fixed camera condition Straight lines Sharp curves Trajectories are jerky 2005 Technology and Persons with Disabilities conference

  26. Mobile camera condition Trajectories are smooth 2005 Technology and Persons with Disabilities conference

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  32. We observe the « power-law » described by Viviani et al. In natural movements 2005 Technology and Persons with Disabilities conference

  33. Conclusions (1/3) This type of study has to be pursued, notably because we tested here only "healthy" young volunteers This methodology has to be adapted to handicapped populations 2005 Technology and Persons with Disabilities conference

  34. Conclusions (2/3) • However, this experimental approach suggests • that the implementation of "human-like" visuo-motor • coupling models on complex assistance devices • might improve human-machine compatibility 2005 Technology and Persons with Disabilities conference

  35. Conclusions (3/3) Further, this experimental approach suggests 2) that, beyond raw performance, the evaluation of the similarity between teleoperated movements and "natural" (non-mediated) movements might constitute an interesting way to foresee the usability of an assistance device 2005 Technology and Persons with Disabilities conference

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