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.

Made available in DSpace on 2015-05-14T12:36:58Z (GMT). No. of bitstreams: 1 parte1.pdf: 2157506 bytes, checksum: f860bc902af866c32087958813a3a8b9 (MD5) Previous issue date: 2011-03-23 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / Associate to Virtual Reality, the incorporation of haptic systems makes possible to extend the level of realism and provide a more efficient way of involvement, bringing better results in performing the activities of tactile nature embedded in applications and games. However, there are few incentives for implementing these devices in serious games. The development of serious games in immersive environments and the inclusion of non-conventional devices such as haptic devices, may contribute to the motivation and learning of the player. This work has as main objective the design, study, research, development and discussion of the incorporation of haptic systems in serious games, specifically in Odontology related to adult s oral hygiene. Though, the serious games development needs a multidisciplinary team. Thus, this work also proposes and tests a serious game development process which aims to achieve a good set of approach, content and technology for a correct planning and specification of the game. / Aliado à Realidade Virtual, a incorporação de sistemas hápticos possibilita ampliar o nível de realismo e oferecer uma forma mais eficiente de envolvimento, trazendo melhores resultados na realização das atividades de natureza tátil inseridas em aplicações e jogos. Entretanto, poucos são os incentivos da aplicação destes dispositivos em serious games. O desenvolvimento dos serious games em ambientes imersivos e a inclusão de dispositivos não convencionais, como dispositivos hápticos, podem contribuir para a motivação e aprendizado do jogador. Desta forma, este trabalho traz como principal objetivo a concepção, estudo, investigação, desenvolvimento e discussão da aplicação de sistemas hápticos em serious games, mais especificamente na construção de um jogo para a área Odontológica relacionada à higiene bucal de adultos, podendo este, ser utilizado para propiciar o entendimento melhor dos conceitos, como também, na fixação de técnicas de escovação e procedimentos envolvidos. Entretanto, o desenvolvimento de um serious game necessita de uma equipe multidisciplinar no qual profissionais da área que o conteúdo do jogo se relaciona precisa estar em constante comunicação com a equipe de design e desenvolvimento. Desta forma, também é proposto e testado neste trabalho, um modelo de processo para o desenvolvimento de serious games que visa alcançar um bom conjunto de abordagem, conteúdo e tecnologia para o correto planejamento e especificação do jogo.