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<p>Tactile sensing is an essential human ability for understanding their surroundings. It allows humans to detect and manipulate objects that are concealed or difficult to see in low-light settings. Further, tactile sensing enables people to comprehend object and surface properties that cannot be obtained through visual feedback alone. This is achieved with gentle touches, enabling tactile exploration of fragile, sensitive objects, or living organisms. This capability could be transferred to robots through suitable hardware and algorithms. Nevertheless, current tactile sensors and skills for robotics are not comparable to the tactile sense of humans, thus resulting in inferior characterization of scenes and a risk of altering object states.</p> <p><br></p> <p>To address these limitations, this dissertation proposes a novel framework for robot active tactile exploration and object characterization. The framework combines bioinspired soft sensors and minimally invasive tactile exploration strategies to minimize perturbations to objects. This framework was achieved by: (1) an ultrasensitive whisker sensor that enables object characterization with minimal interaction forces; (2) autonomous tactile exploration skills to localize objects and then characterize their shape and surface properties; and (3) machine learning techniques to analyze contact information gathered by our tactile sensors, enabling the understanding of object attributes by tactile sensing alone. </p> <p><br></p> <p>Experiments were conducted to validate the effectiveness of the framework. In terms of object localization efficiency, informative path planners and contour exploration patterns outperformed baseline methods. Furthermore, the whisker sensor was successfully employed to characterize object surface and liquid properties. Finally, the features found through the characterization process allowed for successful classification by machine learning techniques. These results indicate that the proposed framework can effectively gather multimodal features from environments while maintaining the safety of objects. </p>

Cette thèse traite un sujet pluridisciplinaire, la conception d’un prototype de micro-capteur biologique pour la détection des anticorps de patients susceptibles d'être allergiques.Elle a pour objectif la miniaturisation de la méthode ELISA pour « Enzyme Linked Immune Sorbent Assay » en concevant en « full-custom », avec une technologie CMOS APS, un capteur colorimétrique. Ce capteur est posé en dessous un système micro fluidique contenant l’échantillon biologique à tester, le tout est illuminé via une fibre optique. Le détecteur capte la lumière qui a traversé le micro-tube contenant l’échantillon. Les courants photoniques induits sont liés à la concentration et la coloration de la solution. Le virage colorimétrique de la réaction enzymatique, due à la présence des anticorps dans le sérum, et l’évaluation quantitative de la concentration seront déterminée par la mesure de ces photo-courants. Le capteur pourrait contenir une matrice de 20x20 pixels de détecteurs de couleur ainsi que leur électronique de lecture et de commande. Pour des raisons de coûts, nous avons validé le procédé à l’aide d’une matrice de 4x4 pixels de détecteur de couleur. La réalisation du circuit a été suivie par une caractérisation électrique et colorimétrique. La caractérisation électrique a permis de valider le fonctionnement du bloc de commande du circuit ainsi que celui du pixel (l’électronique de lecture, BDJ). Les résultats de mesures concordent avec ceux de simulations. La caractérisation colorimétrique consiste à mesurer le virage colorimétrique de deux solutions différentes. Les mesures ont pu montrer que notre capteur est plus sensible que le spectromètre utilisé pour mesurer la concentration des deux solutions. Ainsi ce travail de recherche a contribué à la miniaturisation d’une bio-puce colorimétrique dédiée aux tests immunologiques basée sur la méthode ELISA. / This PhD treats a multidisciplinary subject based on the design of a biological micro-sensor prototype for the detection of antibodies of patients susceptible to be allergic.The goal has been the miniaturization of the ELISA "Enzyme Linked Immune Sorbent Assay" method, designing in integrated full-custom colorimetric sensor with a CMOS APS technology. This sensor is installed below a microfluidic system containing the biological test sample, the whole is illuminated via an optical fiber. The sensor detects the light passed through the micro reservoir containing the sample, the induced photo-currents is related to the concentration of the solution. The color change of the enzyme reaction due to the presence of antibodies in the serum, and the quantitative evaluation of the concentration will be determined by the measurement of the induced photo-currents. The sensor may contain a matrix of 20x20 color detector pixels and their reading and control electronics. For cost reasons, we validated the method using a matrix of 4 x 4 pixels of color detectors.The design of electrical device was followed by a colorimetric and electrical characterizations. The latter was used to validate the operation of the control block of the circuit as well as that of the pixel (readout electronics, BDJ). The results brought by measurements are in good agreement with those obtained through simulations. The colorimetric characterization consists in measuring the intensity of the color of two different solutions of different colors. These measurements have shown that our sensor is more sensitive than a spectrometer. Therefore, this research work has contributed to the miniaturization of a colorimetric sensor and its electronic part for the Immunoassay based on the ELISA method.