2005 technology and persons with disabilities conference assistance robotics implementation of...

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


ARPH : Assistance by Robot for People with Handicap, in collaboration with AFM

(Association Française contre les Myopathies)


Command control station

ARM: Assistive Robotic Manipulator

Pan-tilt camera

Ultrasonic ring

Odometer


Exact Dynamics b.v.

(www.exactdynamics.nl)

Booth 203, Marriott


Command control station

Assistive Robotic Manipulator

Pan-tilt camera

Ultrasonic ring

Odometer


Control station terminal


Global scheme of operation in autonomous mode

Goal-seeking behavior

Avoidance behavior


Khepera

Planned pathOptimal path computed

Actual path


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


Viviani & Terzuolo (Neuroscience, 1982)

Movement’s velocity is proportional to the radius of curvature


Disadvantages of the autonomous approach

Errors due to the poor quality of captors

Full automation is not possible

Exploration, changes in plan during action,…


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)


Land, M.F. & Lee, D.N. (1994)

Where we look when we steer


J. Wann (2004)


Distribution of gaze location on the road


Experimental study


Task : slalom w/ different curvatures


Condition 1: fixed camera

Decrease linear speed

Increase linear speed

Increase left angular speed

Increase right angular speed


Robot’s mode of control (fixed camera)

Angular speed

Linear speed

Operator’s commands

trajectory


Condition 2: mobile camera

Decrease linear speed

Increase linear speed

Cameraleft

Camera right


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


Results

2 groups of 7 subjects (healthy volunteers)

After training, 4 trials on the slalom


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


Fixed camera condition

Trajectories are jerky

Sharp curvesStraight lines


Mobile camera condition

Trajectories are smooth


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


fixed camera

radius of curvature (m)

0.1 1 10

Lin

ear

spe

ed

(m/s

ec)

0.2

0.3

2

1


Time (tics)

0 100 200 300 400 500 600

0.1

1

10

radius (m)

Speed (m/sec)


Mobile camera


0.1 1 10

Lin

ear

spe

ed (

m/s

ec)

0.5

1.5

2

1


Time (tics)

0 100 200 300 400 500 600

0.1

1

10Radius (m)Speed (m/sec)


Speed=1.3Radius1/3


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


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)


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)


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)

2005 technology and persons with disabilities conference assistance robotics implementation of...

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