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Mise en place d'une stratégie de co-manipulation humain-robot transparente pour l'assistance au geste échographique : Définition d’une stratégie de génération de trajectoire transparente et évaluation de l’influence des paramètres sur le mouvement

Abstract : The present work is in the field of co-manipulation robotics for gesture support. Weworked on the particular case of ultrasound examination, in order to reduce the prevalence of Musculoskeletal Disorders (MSD) that can be faced by sonographers. Thestrategy is based on a clinician-robot comanipulation of the ultrasound probe for itspositioning on the patient; the robot keeps the probe on the patient. During guidance,the robot must follow the movements imposed by the operator without feeling any dynamic effort linked to its movement : it is referred to as transparent guidance. Knowingthat the current approaches to implement manual guidance are mainly based on impedance or admittance control laws, and do not allow to create a transparent human-robotco-manipulation, the scientific challenge of our work is to propose a control techniqueallowing a transparent and intuitive human-robot co-manipulation for the human. Thus,we proposed a new method for generating real-time trajectories depending on the effortsapplied by the operator and based on the fundamental laws of the dynamics of a solid,thus introducing the notion of "virtual solid". Based on these laws, the robot must followthe trajectory of a solid in space when subjected to the operator’s actions. Thus, thegeneration of trajectory is done from the setting in motion of the virtual solid, whosecharacteristics are a virtual mass, a virtual inertia and virtual frictions. The approach was implemented on the Staübli TX2 60 robot and then studied in simulation and experimentation by comparing it to the classical co-manipulation method using impedance control. The results obtained are quite satisfying in favor of the proposed method. Wealso studied the influence of virtual parameters on the trajectory, and the transparencyof the co-manipulation, allowing obtaining a logic of adjustment of the control.
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https://theses.hal.science/tel-03858962
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Submitted on : Friday, November 18, 2022 - 7:59:17 AM
Last modification on : Sunday, November 20, 2022 - 3:06:28 AM

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2022UCFAC009_MOUTSINGA.pdf
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  • HAL Id : tel-03858962, version 1

Citation

Irmella Moutsinga. Mise en place d'une stratégie de co-manipulation humain-robot transparente pour l'assistance au geste échographique : Définition d’une stratégie de génération de trajectoire transparente et évaluation de l’influence des paramètres sur le mouvement. Electronique. Université Clermont Auvergne, 2022. Français. ⟨NNT : 2022UCFAC009⟩. ⟨tel-03858962⟩

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