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2005 Technology and Persons with Disabilities conference
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: [email protected]
LMP
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2005 Technology and Persons with Disabilities conference
ARPH : Assistance by Robot for People with Handicap, in collaboration with AFM
(Association Française contre les Myopathies)
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2005 Technology and Persons with Disabilities conference
Command control station
ARM: Assistive Robotic Manipulator
Pan-tilt camera
Ultrasonic ring
Odometer
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2005 Technology and Persons with Disabilities conference
Exact Dynamics b.v.
(www.exactdynamics.nl)
Booth 203, Marriott
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2005 Technology and Persons with Disabilities conference
Command control station
Assistive Robotic Manipulator
Pan-tilt camera
Ultrasonic ring
Odometer
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2005 Technology and Persons with Disabilities conference
Control station terminal
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2005 Technology and Persons with Disabilities conference
Global scheme of operation in autonomous mode
Goal-seeking behavior
Avoidance behavior
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2005 Technology and Persons with Disabilities conference
Khepera
Planned pathOptimal path computed
Actual path
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2005 Technology and Persons with Disabilities conference
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
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2005 Technology and Persons with Disabilities conference
Viviani & Terzuolo (Neuroscience, 1982)
Movement’s velocity is proportional to the radius of curvature
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2005 Technology and Persons with Disabilities conference
Disadvantages of the autonomous approach
Errors due to the poor quality of captors
Full automation is not possible
Exploration, changes in plan during action,…
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2005 Technology and Persons with Disabilities conference
Human-machine cooperation is needed
Task allocation
Appropriation (distal attribution)
Human like behaviors
1. Speed/curvature relationships2. Gaze/motion relationships (on the robot)3. Camera control (human interface)
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2005 Technology and Persons with Disabilities conference
Land, M.F. & Lee, D.N. (1994)
Where we look when we steer
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2005 Technology and Persons with Disabilities conference
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2005 Technology and Persons with Disabilities conference
J. Wann (2004)
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2005 Technology and Persons with Disabilities conference
Distribution of gaze location on the road
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2005 Technology and Persons with Disabilities conference
Experimental study
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2005 Technology and Persons with Disabilities conference
Task : slalom w/ different curvatures
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2005 Technology and Persons with Disabilities conference
Condition 1: fixed camera
Decrease linear speed
Increase linear speed
Increase left angular speed
Increase right angular speed
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2005 Technology and Persons with Disabilities conference
Robot’s mode of control (fixed camera)
Angular speed
Linear speed
Operator’s commands
trajectory
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2005 Technology and Persons with Disabilities conference
Condition 2: mobile camera
Decrease linear speed
Increase linear speed
Cameraleft
Camera right
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2005 Technology and Persons with Disabilities conference
Robot’s mode of control (mobile camera)
Camera angle (CA)
Angular speed (AS) AS= f(CA)
Linear speed (L) L = 1 - |AS|
Operator’s commands
trajectory
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2005 Technology and Persons with Disabilities conference
Results
2 groups of 7 subjects (healthy volunteers)
After training, 4 trials on the slalom
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2005 Technology and Persons with Disabilities conference
Sessions
1 2 3 4
Com
ple
tion
tim
e (s
ec)
0
50
100
150
200
250
300
350fixed cameramobile camera
Required time to complete the task
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2005 Technology and Persons with Disabilities conference
Fixed camera condition
Trajectories are jerky
Sharp curvesStraight lines
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2005 Technology and Persons with Disabilities conference
Mobile camera condition
Trajectories are smooth
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2005 Technology and Persons with Disabilities conference
Radius of curvature distribution
Radius of curvature (m)
0.0001 0.001 0.01 0.1 1 10 100 1000
Occ
urre
nce
(%)
-10
0
10
20
30
40
50
60
70mobile camerafixed camera
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2005 Technology and Persons with Disabilities conference
fixed camera
radius of curvature (m)
0.1 1 10
Lin
ear
spe
ed
(m/s
ec)
0.2
0.3
2
1
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2005 Technology and Persons with Disabilities conference
Time (tics)
0 100 200 300 400 500 600
0.1
1
10
radius (m)
Speed (m/sec)
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2005 Technology and Persons with Disabilities conference
Mobile camera
Radius of curvature (m)
0.1 1 10
Lin
ear
spe
ed (
m/s
ec)
0.5
1.5
2
1
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2005 Technology and Persons with Disabilities conference
Time (tics)
0 100 200 300 400 500 600
0.1
1
10Radius (m)Speed (m/sec)
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2005 Technology and Persons with Disabilities conference
Speed=1.3Radius1/3
Radius of curvature (m)
0 2 4 6 8 10
Line
ar S
peed
(m
/sec
)
0
1
2
3
4
We observe the « power-law » described by Viviani et al. In natural movements
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2005 Technology and Persons with Disabilities conference
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
Conclusions (1/3)
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2005 Technology and Persons with Disabilities conference
However, this experimental approach suggests
1) that the implementation of "human-like" visuo-motor coupling models on complex assistance devices
might improve human-machine compatibility
Conclusions (2/3)
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2005 Technology and Persons with Disabilities conference
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
Conclusions (3/3)