Human-scale mobile robots that manipulate objects (mobile manipulators) have the potential to perform a variety of useful roles in healthcare. Many promising roles for robots require physical contact with patients and caregivers, which is fraught with both psychological and physical implications. In this thesis, we used a human factors approach to evaluate system performance and participant responses when potential end users performed a healthcare task involving physical contact with a robot. We performed four human-robot interaction studies with 100 people who were not experts in robotics (naive participants). We show that physical contact between naive participants and human-scale mobile manipulators can be acceptable and effective in a variety of healthcare contexts. In this thesis, we investigated two forms of touch-based (haptic) interaction relevant to healthcare. First, we studied how participants responded to physical contact initiated by an autonomous robotic nurse. On average, people responded favorably to robot-initiated touch when the robot indicated that it was a necessary part of a healthcare task. However, their responses strongly depended on what they thought the robot's intentions were, which suggests that this will be an important consideration for future healthcare robots. Second, we investigated the coordination of whole-body motion between human-scale robots and people by the application of forces to the robot's hands and arms. Nurses found this haptic interaction to be intuitive and preferred it over a standard gamepad interface. They also navigated the robot through a cluttered healthcare environment in less time, with fewer collisions, and with less cognitive load via haptic interaction. Through a study with expert dancers, we demonstrated the feasibility of robots as dance-based exercise partners. The experts rated a robot that used only haptic interaction to be a good follower according to subjective measures of dance quality. We also determined that healthy older adults were accepting of using a robot for partner dance-based exercise. On average, they found the robot easy and enjoyable to use and that it performed a partnered stepping task well. The findings in this work make several impacts on the design of robots in healthcare. We found that the perceived intent of robot-initiated touch significantly influenced people's responses. Thus, we determined that autonomous robots that initiate touch with patients can be acceptable in some contexts. This result highlights the importance of considering the psychological responses of users when designing physical human-robot interactions in addition to considering the mechanics of performing tasks. We found that naive users across three user groups could quickly learn how to effectively use physical interaction to lead a robot during navigation, positioning, and partnered stepping tasks. These consistent results underscore the value of using physical interaction to enable users of varying backgrounds to lead a robot during whole-body motion coordination across different healthcare contexts.

The following work is an attempt to feed a dynamic concept of the body into contemporary morphogenetic design procedures in order to confront critiques that topological design processes produce architectural form that is too abstract. This begins with an understanding of the body schema; the open and continuously variable relationships between the various modes of sensation and perception that can only be described in topological terms. Similar to how active matter is instrumentalized in avant-garde practice and cutting edge research towards self-organization and morphogenesis, an active body schema has the potential to be instrumentalized towards design that aims to exploit the potential performance and openness of the body when confronted with architecture, moving away from mechanistic, representational notions of function. The work follows a procedure wherein conceptual research engages physical phenomena that are abstracted into diagrams then organized into material systems or abstract machines. These machines are intended to be mobilized and consolidated to engage specific issues of program and type and further refined to be deployed upon a specific site. This morphological process of machining architecture aims to move toward a seamless exchange between research and design that effectively instrumentalizes the dynamic body schema into a design process engaging architecture of performance. Perhaps, in terms of the body, morphogenetic design produces architecture that is not abstract enough.

Thesis (MScEng) Stellenbosch University, 2014 / ENGLISH ABSTRACT: Teleoperation as a field has seen much change since its inception in the early 1940s with Dr. Raymond Goertz producing the first teleoperation system for manipulating radioactive materials. With advances in core and supporting technologies, the systems have grown in complexity and capability, allowing users to perform tasks anywhere in the world irrespective of physical distance. The feasibility of such systems has increased as the drive for use of telepresence robots, exploration robots as in space exploration, search and rescue robots and military systems such as UAVs and UGVs gain popularity. This prompted the development of a proof of concept modular, user centred telerobotic system. The current project is the second iteration in the development process. Teleoperation and more specifically telerobotic systems pose a challenge for many system developers. This may be a result of complexity or the wide assortment of knowledge areas that developers must master in order to deliver the final system. Developers have to balance system usability, user requirements, technical design and performance requirements. Several developmental process models are considered in context of Engineering Management (EM). A larger Systems Engineering developmental process is used, with focus on the primary and supportive EM components. The author used a hybrid developmental model that is user focussed in its approach, the User-Centred Systems Design (UCSD) methodology was adopted as the primary model for application within the two distinct developmental categories. The first category hardware and system integration utilised the UCSD model as is. The second - Software development - relied on the use of agile models, rapid application development (RAD) and extreme programming (XP) were discussed with XP being chosen as it could easily incorporate UCSD principles in its development process. Hardware systems development consisted of mechanical design of end-effectors, configuration management and design, as well as haptic and visual feedback systems design for the overall physical system. Also included is the physical interface design of the input (master) cell. Further software development was broken into, three sections, the first and most important was the graphical user interface, haptic control system with kinematic model and video feedback control. The force following and matching characteristics of the system were tested and were found to show an improvement over the previous implementation. The force magnitude error at steady state was reduced by 10%. While there was a dramatic improvement in system response, the rise time was reduced by a factor 10. The system did however show a decrease in angular accuracy, which was attributed to control system limitations. Further human-factor analysis experiments were conducted to test the system in two typical use-case scenarios. The first was a planar experiment and the second a 3D placement task. The factors of interest identified were field-of-view, feedback vision mode, and input modality. Heuristic performance indicators such as time-to-completion and number of collisions for a given task were measured. System performance was only showed significant improvement when used with haptic control. This shows that the research into haptic control systems will prove to be valuable in producing usable systems. The vision factor analysis failed to yield significant results, although they were useful in the qualitative systems analysis. The feedback from post-experimentation questionnaires showed that users prefer the Point of View as a field of view and 2D viewing over 3D viewing, while the haptic input modality was preferred. The results from the technical verification process can be used in conjunction with insights gained from user preference and human-factor analysis to provide guidance for future telerobotic systems development at Stellenbosch University. / AFRIKAANSE OPSOMMING: Telewerksverigting as ’n gebied het al vele veranderinge ondergaan vandat die eerste stelsels deur Dr. Raymond Goertz geimplementeer was in die vroeë 1940s vir die hantering van radioaktiewe materiale. Met vordering in kern en ondersteunende tegnologieë, het die telewerksverigtingstelsels toegeneem in kompleksiteit asook gevorder in vermoeënsvaardigheid, wat gebruikers in staat stel om take te verrig vanuit enige plek op aarde, ongeag die fisiese afstand wat die gebruiker en die werksarea skei. Die lewensvatbaarheid van hierdie stelsels het ook toegeneem weens die belangstelling in teleteenwoordigheidrobotte, ruimtevaardige-robotte, reddings-robotte en militêre-robotte soos onbemandelug- voertuie (OLV) en onbemande-grond-voertuie(OGV). As gevolg van die belangstelling in telerobotiese stelsels is die ontwikkeling van ’n modulêre, gebruikers-gesentreerde telewerksverigting stelsel onderneem. Die huidige projek is ’n tweede iterasie hiervan. Telewerksverigting, en meer spesifiek, telerobotika stelsels ontwikelling, vereis dat stelselontwikkelaars ’n verskeidenheid kennisareas bemeester. Die ontwikkelaar moet ’n belans vind tussen gebruiker vereistes, bruikbaarheid asook tegniese ontwerp en prestasie vereistes. Menigde ontwikkelingsproses modelle is oorweeg en behandel in die konteks van Ingenieursbestuur (IB). ’n Stelselsontwikkeling proses is gevolg met ’n fokus op primêre en ondersteunende IB komponente. ’n Gemengde ontwikkeling is toegepass tot die projek wat die gebruiker as ’n hoof komponent van die stelsel in ag neem. Die oorhoofse ontwikkelingsmodel is die User-centred Systems Design (UCSD) proses, wat vir beide hardeware en sagteware ontwikkeling gebruik is. Vir die hardeware ontwikkeling is die UCSD toegepas soos dit uiteengesit is in die literatuur. Die sagteware ontwikkeling is voltooi met behulp van ratse metodes, “Rapid Application Development” RAD en “Extreme Programming” (XP) was oorweeg en XP was gekies as ontwikkelingsmodel. XP was die natuurlike keuse weens die gemak waarmee UCSD metodes en prinsiepe kon geinkorporeer word in die ontwikkelings proses. Hardeware onwikkeling het bestaan uit meganiese ontwerp, manipulasiegereedskap ontwerp, konfigurasie bestuur en ontwikkeling asook haptiese en visueleterugvoer stelselsontwerp van die fisiese stelsel insluitend die fisiese koppelvlakontwerp van die meester sel. Verder is sagtewareontwerp opgedeel in ’n haptiesebeheerstel met ’n kinematiese model ontwikkeling, videoterugvoerbeheer en gebruikersintervlak ontwerp. Die vermoëe van die stelsel om krag insette na te boots was verbeter met ’n gestadigde verbetering van 10%. Die reaksietyd van die stelsel is verbeter met ’n faktor van 10. Die stelsel het ’n verswakking getoon in die algehele hoekakkuraatheid, die oorsprong van die verswakking kan aan die beheerstelsel teogeken word. Verdere menslikefaktoranalise eksperimente is voltooi om die stelsel in twee tipiese gebruikgeval scenario’s te toets. Die eerste, ’n platvlak-eksperiment en die tweede ’n 3D plasingingstaak eksperiment. Die faktore van belang is ïdentifiseer as, visie-veld, terugvoervisie modus en insette modaliteit. Heuristiese prestasie-aanwysers soos tyd-tot-voltooiing en die aantal botsings vir ’n gegewe taak is gemeet. Stelselprestasie het slegs aansienlike verbetering getoon wanneer die stelsel met die haptiesebeheer modus bedryf word. Die visiefaktor ontleding het geen noemenswaardige resultate opgelewer nie. Terugvoervorms was na elke eksperiment voltooi. Vraelyste het getoon dat gebruikers die oogpunt van ’n lae hoek en 2D video oor 3D video verkies, terwyl die haptic beheer modaliteit verkies word.

Depuis les années 1990, le flou a envahi les écrans, touchant toutes les productions audiovisuelles, qu’ils s’agissent des films d’auteur, des blockbusters, des séries, ou encore des publicités. S’il est le plus souvent devenu un composant narratif, voire purement « cosmétique », des longs-métrages, certains réalisateurs tentent de se dégager de cet usage normé afin de jouer avec son potentiel menaçant, que nous savons qualifié de symptomal. Le terme de « symptôme », qui se réfère à l’usage qu’en fait Georges Didi-Huberman, renvoie à un contre-régime de l’image qui vient soulever le régime figuratif. En privilégiant une approche esthétique, phénoménologique et sémiologique, notre thèse met au jour la puissance symptomale du flou, à savoir son potentiel figural, haptique ou encore informe. Selon la théorie développée par Georges Didi-Huberman à partir des écrits de Sigmund Freud, le terme de « symptôme »fait également écho au mouvement du temps, c’est-à-dire au travail qu’opèrent les hantises, les survivances au sein des images afin d’ébranler, de faire vaciller le régime figuratif. Le flou-symptôme est donc aussi envisagé à partir de l’angle du temps, d’un temps qui malmène la représentation, la narration. Notre attention se porte sur différents types de flou, qu’il enveloppe totalement ou partiellement l’image(faible profondeur de champ), s’immisce progressivement dans l’image (mouvement de mise au point), ou encore résulte d’un travail sur le montage rapide (flicker) et la matière (définition de l’image, flou atmosphérique). Dans ce travail, nous analysons toutes ces différentes formes de flou afin de révéler que si certains réalisateurs s’emploient à défaire la fiction première, c’est pour mieux esquisser de nouvelles lignes de fuite narratives, des vies nouvelles. / Since the 90s, blur has invaded screens through all audiovisual productions. This phenomenon can be found not only in arthouse movies but also in blockbusters, TV series, or commercials. Its recurrent appearance as a narrative component, or even “cosmetic”, led some directors to grow away from this standardized use and to fully develop its threatening potential, that we call here symptomal. Symptom,according to Georges Didi-Huberman's works, refers to a counter-regime in which the image upraises the figurative regime. By favoring an aesthetic, phenomenological, and semiologistic approach, this thesisreveals the symptomal power of the blur, namely its figural, haptic, and formless potential. According to the theory that Georges Didi-Huberman elaborated from Sigmund Freud's work, the term “symptom”resonates with the flow of time, id est the labor operated by hauntings and survivances within images in order to undermine and shake the figurative regime. Thus the blur-symptom is also envisioned through the scope of time, a time which destabilizes representation and narration. Our focus is on the different types of blur : an image completely or partially blurred (shallow depth of field), blurring through a motion in the focus (focus-through), or through flickers and even a processing of the matter (image definition andatmospheric blur). In this study, we analyze these different forms of blur to reveal that some directors strive to dismantle the original fiction. Doing so, they eventually sketch new narrative lines of flight, newlives.

Le Syndrome de la Douleur Régionale Complexe (SDRC) est une maladie se manifestant par des troubles moteurs et atteint généralement les membres supérieurs. Bien que l'effet positif de la thérapie de miroir sur SDRC ait été prouvé, la tête du patient fixée et orientée en direction du miroir et l'exigence d'ignorer le membre intact limite encore cette thérapie. Dans ce contexte, premièrement la pseudo-haptique est appliquée dans le cas de la thérapie physique pour la main des patients affectés par le SDRC. Ainsi, le premier travail que nous avons effectué était de comprendre comment l'effet pseudo-haptique influence le comportement moteur de la main de l'utilisateur. A cet effet, des tâches de discrimination de rigidité ont été conduites consistant à discriminer la raideur d'un ressort virtuel avec celle de trois ressorts réels de raideurs différentes. Il existe deux types de thérapie pour la réhabilitation des patients atteints de SDRC : kinésiologique et occupationnelle, qui visent à récupérer respectivement les fonctions motrices de base et de travail du membre affecté. Concernant la thérapie kinésiologique, une application fondée sur la technologie Leap Motion et Unity3D a été développée permettant de manipuler la relation entre le mouvement de la main physique de l'utilisateur et le mouvement rendu/virtuel de l’avatar. L’application a été validée par une étude pilote réalisée au CHU de Grenoble avec des patients, des sujets sains et une équipe médicale (docteurs et kinésithérapeutes. Durant les tests, le mouvement rendu de la main est présenté sur l’écran de l’ordinateur: identique, amplifié ou réduit. Le retour des sujets a montré qu’ils n’avaient pas des sensations d’inconfort en utilisant l’application développée. L’équipe médicale, quant à elle, a manifesté un vif intérêt concernant l’utilisation de l’application en thérapie kinésithérapique. A cause de la fonction motrice anormale et de la douleur chronique nous avons tenu compte de l'endurance à la fatigue des patients atteints de SDRC A cet effet, une nouvelle méthode pour l'évaluation de la fatigue de la tâche en démontage fondée sur la dépense d'énergie métabolique et l’estimation de la fatigue musculaire a été proposée. Elle permet d’estimer les niveaux de fatigue associés à des tâches de démontage différentes. La méthode proposée est validée par une série de tests expérimentaux de chargement effectués dans un environnement de RV. D’autre part, les niveaux de fatigue sont évalués en analysant des signaux EMG des muscles impliqués du bras de l’opérateur. Enfin, les résultats analytiques issus du modèle proposé et les résultats expérimentaux obtenus à partir de l'analyse des signaux EMG ont été comparés et montré une très bonne corrélation entre eux. / Complex Regional Pain Syndrome (CRPS) is a disease which companies with motor disorder and is generally affecting the upper limbs. Although the positive effect of mirror therapy on CRPS has been proved, the patient’s fixed head oriented towards the mirror and the requirement of ignoring the intact limb still limits this therapy. In this context, firstly the pseudo-haptics is applied in the case of physical therapy for hand affected CRPS patients. Thus, our first work was to understand how the pseudo-haptic feedback affects the user’s motor behavior of hand. For this purpose, stiffness discrimination tasks were performed consisting in discriminating the stiffness of one virtual spring with three different compared real springs. For rehabilitation of CRPS patients, there are two types of therapy: a kinesiological and an occupational one, respectively aiming at recovering the basic and working motor functions of patient‘s affected limb. For the kinesiological therapy we developed a VR application, based on Leap Motion technology and Unity3D software, allowing to manipulate the relationship between the user’s physical hand motion and the rendered avatar virtual motion. The application was validated by a pilot study performed at University Hospital Center in Grenoble with patients, healthy subjects and medical staff (doctors and kinesitherapists). During the experiments the rendered hand motion on the computer screen, is shown identical, amplified or reduced compared to the users’ real hand motion. Users’ feedback shown that they had no uncomfortable feeling with using the developed application. Medical staff expressed a strongly interest in using the application in the kinesiological therapy. Due to the motor abnormal function and chronic pain, we also considered the fatigue in the muscles during rehabilitation. For this purpose, a new method for disassembly task fatigue evaluation based on metabolic energy expenditure and muscle fatigue estimation is proposed. It is validated by a set of experimental loading tests performed in a specially realized test bench and integrated in a VR environment. The analytical model for mechanical energy expenditure is also proposed allowing to evaluate different fatigue levels. On the other hand, the fatigue levels are evaluated by analyzing the recorded EMG signals on the involved muscles in operator’ arm. The analytical results, calculated based on the proposed model and the experimental results, obtained from the EMG signals analysis, were compared and showed a (very) good correlation between them.

La notion d'instrumentalité peut être définie comme la relation corporelle entre un humain et un objet physique, dit instrument. Ce corps à corps intime, qui adresse simultanément les différents canaux sensoriels d'action et de perceptions humaines, constitue un vecteur pour la connaissance enactive. Cette relation instrumentale joue notamment un rôle clé pour la richesse expressive des instruments musicaux.Dans le contexte informatique, un vaste champ de recherche concerne l'interaction sensorielle avec des entités virtuelles par le biais de capteurs et d'actionneurs, notamment l'interaction gestuelle avec les systèmes à retour d'effort. D'une part, les Réalités Virtuelles, historiquement centrées sur la visualisation, focalisent essentiellement l'interaction gestuelle sur des propriétés spatiales, souvent au détriment de qualités dynamiques. D'autre part, les Instruments Musicaux Numériques sont essentiellement centrés sur le contrôle interactif de processus de synthèse sonore numériques, basés sur le traitement de l'information. Ces deux scénarii synthétisent des phénomènes sensoriels destinés à différents canaux perceptifs selon une approche multimodale, l'objet virtuel étant décomposé en sous-parties, liées entre elles par des relations de contrôle.Il est néanmoins possible de concevoir des systèmes permettant l'interaction instrumentale avec un objet virtuel simulé, avec une cohérence énergétique bidirectionnelle totale, du geste au son et réciproquement. Il est alors nécessaire de regrouper (a) un formalisme de modélisation physique permettant la création d'objets virtuels intrinsèquement multisensoriels, possédant à la fois des propriétés visuelles, acoustiques et haptiques, (b) des systèmes à retour d'effort de grande performance dynamique et (c) des architectures de calcul spécialisées, permettant une boucle de simulation synchrone réactive à haute vitesse.Le travail de cette thèse consiste en l'extension et la convergence des concepts et techniques ci-dessus pour la mise en œuvre d'une plateforme de création musicale instrumentale, dite MSCI (modeleur-simulateur pour la création instrumentale), en proposant une répartition multifréquence du calcul de simulation des instruments virtuels sur une nouvelle architecture matérielle synchrone. Un environnement de modélisation permet de concevoir intégralement l'instrument virtuel sur des principes mécaniques et physiques et de configurer le couplage physique entre celui-ci et l'utilisateur du monde réel lors de la simulation à retour d'effort.Il adresse entre autre la question de la répartition de la chaine instrumentale en zones à caractère majoritairement non-vibrant, dont la dynamique est de l'ordre du geste sensori-moteur humain, et en zones vibrantes, productrices du son. Ces deux parties de l'instrument peuvent être simulées à des fréquences différentes, adaptées aux phénomènes physiques dont elles sont le siège. Dans le cadre d'un formalisme de simulation physique garantissant la cohérence énergétique des objets simulés, la séparation multifréquence est une problématique nouvelle qui nécessite d'être abordée avec précaution, pour des questions de respect du couplage physique ainsi que de stabilité numérique.Il s'agit, à notre connaissance, du premier environnement de création musicale par modélisation physique modulaire permettant la manipulation instrumentale d'instruments virtuels multisensoriels, respectant une cohérence énergétique entre homme et instrument, et permettant de jouir du potentiel créatif de la synthèse sonore tout en retrouvant l'intimité et la richesse de l'interaction gestuelle instrumentale. Au delà du cadre musical, ce travail pose les bases et les outils technologiques pour un véritable art multisensoriel, adressant conjointement la vision, l'oreille ainsi que le geste humain. / The notion of instrumentality can be defined as the corporal relationship between a human and a physical object, called an instrument. This intimate situation simultaneously addresses the various human action and perception sensory canals, and constitutes a vector for enactive knowledge. In particular, this instrumental relationship plays a key role in the expressiveness of musical instruments.In the digital context, a vast area of research concerns sensory interactions with virtual entities, by means of sensors and actuators, including gestural interaction with force feedback systems. On the one hand the Virtual Reality domain, historically focused on visual aspects, generally focus gestural interaction on spatial features, often losing the focus of dynamic features. On the other hand, Digital Musical Instruments are essentially centered on interactive control of digital sound synthesis processes, grounded in information technologies and signal processing. These two approaches synthesize sensory phenomena destined to different perceptive channels following a multimodal approach, the virtual object being decomposed into subsections, linked together by control relations.It is however possible to conceive systems that allow for instrumental interaction with a virtual simulated object, maintaining total and bidirectional energetic coherence, from gesture to sound and reciprocally. In this case, it is necessary to bring together (a) a physical modeling formalism that allows creating intrinsically multisensory virtual objects that possess visual, acoustical and haptic properties, (b) force feedback systems with high dynamic performances and (c) specialized computation architectures that allow for a reactive, high rate synchronous simulation loop.The work of this thesis consists in the extension and convergence of concepts and techniques hereby mentioned here-above, in order to create a platform for instrumental musical creation, named MSCI (Modeleur Simulateur pour la Création Instrumentale), proposing a multi-rate architecture for the simulation of virtual musical instruments on a new dedicated simulation architecture. A modeling environment allows complete design of the virtual instrument based on mechanical and physical principles, and to configure the haptic coupling between this instrument and the user during the force-feedback simulation.Notably, it addresses the separation of the instrumental chain into zones which present mostly non-vibrating phenomena within a dynamic range close to the human sensory-motor gesture, and zones which vibrate at acoustical rates, producing sound. These two sections of the instrument may be simulated at different rates, adapted to the physical phenomena that they give birth to. In the scope of a physical modeling formalism that guarantees the energetic coherence of simulated objects, this multi-rate separation is a new topic that requires careful handling, in terms both or respect of the physical coupling and of numerical stability.To our knowledge, this is the first environment for musical creation by means of physical modeling that allows for instrumental manipulation of multisensory virtual instruments, respecting an energetic coherence between the human and the instrument, and therefore allowing embracing the creative potential of digital sound synthesis while disposing of the intimacy and expressiveness of instrumental gestures. Beyond the musical scope, this work provides the basis and the technological tools for the emergence of a true multisensory form of art, jointly addressing vision, hearing and gesture.

This thesis called Haptic Model of the Monastery of Presentation of the Blessed Virgin Mary is composed of two parts, theoretical and practical one. The theoretical part is dealing with selected period of Christian monastery complexes history. There are also mentioned some of the significant events of Christian world, that indisputably have influenced developement of monastic structures. Later on there is described the historical developement of the Monastery of Presentation of the Blessed Virgin Mary in České Budějovice (Budweis). The last chapter focuses on issues of people with visual impairment. The practical part of this thesis is based on creating of haptic model of the Monastery of Presentation of the Blessed Virgin Mary in České Budějovice in approximate measuring scale 1:125, which is supposed to be used primarily by visually impaired as a haptic-tactile aid, so that they can create an ideal image of shape of the monastery complex.

Theoretical part of the thesis, regarding the purpose of practical output (haptic aid), deals in its first sections with special pedagogy ophthalmopedies and typhlography. The second section of the thesis theoretical part analyses the theme of St. Christopher, which appears in the form of wall painting in the monastery temple of the Sacrifice of the Virgin Mary in České Budějovice. In connection with the place of occurrence, the history of the monastery is outlined. Practical part of the thesis is intended for various solutions of creating a specific haptic aid for the blind. That one is used to "view the image" through a relief which thanks to its plastic properties provides a visual impression of a flat surface.

Les travaux décrits dans ce document abordent le problème du couplage dynamique homme-système haptique. Nous proposons une étude de ce couplage basée sur l'hypothèse d'un système hybride temporaire. Selon cette hypothèse, le système formé lors du couplage peut être considéré comme un système dynamique dont les deux parties ne peuvent pas être séparées. Ce sujet est pluridisciplinaire, se situant à l'intersection des sciences cognitives, de l'automatique et de l'haptique. La première partie du document comporte un état de l'art sur l'analyse du couplage dans ces trois domaines, une description de la problématique et de la méthode à utiliser pour notre étude ainsi qu'une proposition des typologies du geste. Lors de cette étude du couplage, nous nous intéressons à un groupe de gestes particuliers, notamment le geste périodique et le geste passif dans une situation de simulation haptique ainsi qu'aux modèles d'interaction capables de les générer. La méthode générale, consiste à définir des approches pour la modélisation du couplage main-système haptique pour ensuite réaliser une analyse du système couplé à partir d'une acquisition des données du système lors du couplage et en utilisant des méthodes d'identification de paramètres issus de l'automatique pour caractériser les modèles. La dernière partie, décrit la mise en place du dispositif pour l'analyse expérimentale du couplage en situation de simulation avec une interaction haptique. Ce dispositif permet l'acquisition des données du geste pour l'analyse. Nous présentons également, l'étude réalisée sur le simulateur haptique afin d'établir l'équivalence entre les paramètres virtuels introduits et issus du simulateur et des paramètres physiques réels. Ensuite, nous décrivons l'analyse expérimentale des différentes situations de couplage proposées. Les expériences effectuées lors de cette étude ont été réalisées sur la plateforme temps réel ERGON_X, conçue par l'ACROE/ICA. Les résultats de ces expériences ont permis de quantifier les modèles du geste et d'observer ses composantes, selon les modèles établis. Mots clés : haptique, interface haptique, interfaces homme-machine, simulation temps réel, couplage homme-objet, geste, modélisation physique, identification de paramètres. / The work described in this document deals with the problem of human-haptic system dynamic coupling. We propose a study of this kind of coupling based on the hypothesis of a temporary hybrid system. Under this hypothesis, the system formed during the coupling can be considered as a dynamic system in which the two parties that compose it cannot be separated. This is multidisciplinary topic, situated at the intersection of cognitive science, automation and haptics. The first part of the document includes a state of the art on the analysis of coupling in these three areas, the description of the problem and the methodology for the study as well as a proposal of gesture typology. In this study of coupling, we are interested in a particular group of actions, such as periodic movement and passive gesture in a situation of haptic simulation and also, in the interaction models able to generate them. The general method is to define the approaches for modeling the hand-haptic device coupling and then perform an analysis of the coupled system by acquiring system data during the coupling and using parameter identification methods to characterize the models. The final section describes the implementation of the device for the experimental analysis of coupling during simulation with a haptic interaction. This device allows data acquisition for gesture analysis. We also present the study of the haptic simulator to establish the equivalence between virtual parameters introduced to and returned by the simulator and real physical parameters. Then, we describe the experimental analysis of different proposed coupling situations. The experiments performed for this study were performed using the real-time platform ERGON_X, designed by ACROE / ICA. The results of these experiments were used to quantify gesture models and to observe its components, according to established models. Keywords: haptic, haptic interface, human-machine interfaces, real-time simulation, human-object coupling, gesture, physical modeling, parameter identification.

Submitted by Viviane Lima da Cunha (viviane@biblioteca.ufpb.br) on 2016-01-25T15:20:09Z No. of bitstreams: 1 arquivototal.pdf: 1612344 bytes, checksum: f0cfaa677e2c9ebbc56a8c6814476d5f (MD5) / Made available in DSpace on 2016-01-25T15:20:09Z (GMT). No. of bitstreams: 1 arquivototal.pdf: 1612344 bytes, checksum: f0cfaa677e2c9ebbc56a8c6814476d5f (MD5) Previous issue date: 2015-04-27 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / The ratings used for the memory studies may vary from the nature of the encoding of stimuli, as to the time when the information remains stored for later retrieval and as the form of engaged learning. Thus, studies that evaluate the coded memory through active manipulation of objects, the haptic memory, are scarce, in particular the assessment of long-term oblivion rates. In the healthy aging process subsystems memory have different significant decline in its components. Therefore, the present study aimed to evaluate the real objects oblivion rates and family processed in the haptic and visual modality in two time slots to recall memories and recognition in a sample of 104 elderly people, of both sexes, without commitment cognitive. For this, a wooden box and a turntable for the presentation of haptic and visual stimuli, respectively were used. The procedure consisted of two phases, one phase of study (stimulus presentation) and another test (recall or recognition tasks), at intervals of 1 hour or 1 day. The Mann-Whitney test for independent samples showed significant differences in the recall task only at 1 day interval, with a superior visual recall of information (U = 55.50, p = 0.029, r =-0,60). In the assessment of the accuracy of recognition revealed that only 1 day interval was no significant difference, however, by superior to haptic condition (U = 55.50, p = 0.029, r =-0,55). In summary, the results show that for different memory tasks evaluation condition influences the forgetting rates over time. So it is necessary that new designs, with the addition of more extended periods of time, may bring further clarification. / As classificações utilizadas para os estudos da memória podem variar em relação a natureza da codificação dos estímulos, quanto ao tempo em que as informações permanecem armazenadas para posterior evocação e quanto a forma de aprendizado envolvida. Dessa forma, os estudos que avaliam a memória codificada através manipulação ativa dos objetos, a memória háptica, são escassos, em especial a avaliação das taxas de esquecimento a longo prazo. No processo de envelhecimento saudável os subsistemas da memória apresentam declínio significativo diferenciado em seus componentes. Diante disso, a presente pesquisa teve por objetivo avaliar as taxas de esquecimento de objetos reais e familiares processadas na modalidade háptica e visual em dois intervalos de tempo para memórias de recordação e reconhecimento em uma amostra de 104 idosos, de ambos os sexos, sem comprometimento cognitivo. Para isso, foi utilizada uma caixa de madeira e uma plataforma giratória para a apresentação dos estímulos hápticos e visuais, respectivamente. O procedimento consistiu em duas fases, uma fase de estudo (apresentação dos estímulos) e outra de teste (tarefas de recordação ou reconhecimento), realizada após os intervalos de 1 hora ou 1 dia. Foram encontradas diferenças significativas na tarefa de recordação apenas no intervalo de 1 dia, com uma superioridade na recordação visual das informações (U=55,50, p=0,029, r=-0,60). E na avaliação da acurácia do reconhecimento revelou que apenas no intervalo de 1 dia houve diferenças significativas, no entanto, com superioridade para a condição háptica (U=55,50, p=0,029, r=-0,55). Em resumo, os resultados mostram que para as diferentes tarefas de avaliação da memória a condição influencia nas taxas de esquecimento ao longo do tempo. Assim é necessário que novos delineamentos, com o acréscimo de intervalos de tempo mais prolongados, possam trazem maiores esclarecimentos.