{"id":9577,"date":"2023-06-23T16:36:36","date_gmt":"2023-06-23T14:36:36","guid":{"rendered":"https:\/\/www.isir.upmc.fr\/?post_type=isir_news&#038;p=9577"},"modified":"2023-06-23T16:37:01","modified_gmt":"2023-06-23T14:37:01","slug":"human-robot-physical-interaction-and-assistance-with-station-standing-and-mobility-hdr-defense-of-wael-bachta","status":"publish","type":"isir_news","link":"https:\/\/www.isir.upmc.fr\/news\/human-robot-physical-interaction-and-assistance-with-station-standing-and-mobility-hdr-defense-of-wael-bachta\/?lang=en","title":{"rendered":"HUMAN-ROBOT PHYSICAL INTERACTION AND ASSISTANCE WITH STATION STANDING AND MOBILITY: HDR DEFENSE OF WAEL BACHTA"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\"><strong>Wael Bachta<\/strong>, researcher at ISIR and lecturer at Sorbonne University, will defend his Habilitation to Supervise Research (HDR) <strong>on Tuesday 27 June 2023<\/strong> at 10am on the Pierre et Marie Curie campus of Sorbonne University.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Title of his work: <strong>Human-robot physical interaction and assistance with station standing and mobility<\/strong>.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The members of the jury are as follows:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Catherine ACHARD, Professor, Sorbonne University, (Examiner),<\/li>\n\n\n\n<li>Philippe FRAISSE, Professor, University of Montpellier, (Rapporteur),<\/li>\n\n\n\n<li>H\u00e9l\u00e8ne PILLET, Professor, \u00c9cole Nationale Sup\u00e9rieure des Arts et M\u00e9tiers, (Examiner),<\/li>\n\n\n\n<li>Philippe SOUERES, Research Director, LAAS &#8211; CNRS, (Rapporteur),<\/li>\n\n\n\n<li>Jean-Louis VERCHER, Research Director, ISM &#8211; Universit\u00e9 Aix-Marseille, (Rapporteur).<\/li>\n<\/ul>\n\n\n\n<div class=\"c-collapsibles\">\n    \n        <div class=\"toggle-section\">\n            <h2 class=\"c-collapsible__title\">\n                <button class=\"js-collapsible-button\">\n                    <svg aria-hidden=\"true\" focusable=\"false\" viewBox=\"0 0 10 10\">\n                        <rect class=\"icon-plus-v\" height=\"8\" width=\"2\" y=\"1\" x=\"4\" \/>\n                        <rect class=\"icon-plus-h\" height=\"2\" width=\"8\" y=\"4\" x=\"1\" \/>\n                    <\/svg>\n                    Summary of his work                <\/button>\n            <\/h2>\n            <div class=\"c-collapsible__content o-content\">\n                <p><em>Summary by Wael Bachta<\/em><\/p>\n<p><strong>Haptic interfaces and assistance for standing and locomotion<\/strong><\/p>\n<p>My research focuses on human-robot physical interaction. I have been able to develop this theme by working on several projects, the main ones being :<\/p>\n<ul>\n<li><strong>The control of haptic interfaces with intermittent contacts<\/strong>: I contributed to the design of a small, hollow, instrumented end-effector that can both track the operator&rsquo;s finger movement in free space and restore the operator&rsquo;s efforts when encountering virtual objects. I have also designed control laws that increase the realism of the immersive experience.<\/li>\n<li><strong>Assisting a person who has to handle a relative&rsquo;s motorised wheelchair<\/strong>: I contributed to the development of an intuitive guidance interface, which can replace those available on the market, to help carers handle a relative&rsquo;s motorised wheelchair. To do this, I used a handlebar with pressure sensors to extract the information needed to guide the wheelchair and implement a suitable movement strategy.<\/li>\n<li><strong>Modelling assisted walking, design and control of a robotic cane<\/strong>: Studying the role of a conventional cane experimentally and numerically enabled me to design a robotic cane that preserves the intrinsic characteristics of its conventional counterpart. I have also implemented a control law that automatically synchronises the movement of this cane with that of its users.<\/li>\n<li><strong>The development of a posture control loop using an active device based on light touch<\/strong>: I modelled the relationship between the movement of a mobile platform touched lightly by the finger and postural balance. This modelling enabled the implementation of a control law that changes a person&rsquo;s postural state through the movement of the platform. The change in postural state is automatic and often occurs without the participant noticing it. I also set up an experimental campaign in a clinical environment to validate the idea of using this technology for rehabilitation purposes.<\/li>\n<\/ul>\n<p>From this factual summary, it can be seen that my research theme applies <strong>to personal assistance<\/strong>. This assistance is divided into two parts. The first <strong>is assistance to an operator or carer<\/strong>. The second involves <strong>assisting people with posture or locomotion problems.<\/strong><\/p>\n<p>The implementation of these applications was <strong>multidisciplinary<\/strong>. Starting from a robotics base, I have drawn on biomechanics, <strong>movement sciences and neuroscience<\/strong>. My approach to human-robot physical interaction is based on using <strong>the limits of human multisensory integration<\/strong> to manipulate the sensory feedback transmitted by the interfaces. I have often preferred to use the limits of human perception to refine and optimise my proposals. Indeed, despite its power and versatility, <strong>human perception has its limits, which we need to be aware of in order to be able to include it judiciously when developing control laws for physical human-robot interaction<\/strong>. As an example, I used the perceptual limits of the temporal dissonance between vision and touch to develop the control law for the haptic interface with intermittent contact and I relied on the ambiguity of finger movement attribution that the central nervous system has to deal with to maintain postural balance.<\/p>\n            <\/div>\n        <\/div>\n\n    <\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">Contact: <strong><a href=\"https:\/\/www.isir.upmc.fr\/personnel\/bachta\/\" data-type=\"URL\" data-id=\"https:\/\/www.isir.upmc.fr\/personnel\/bachta\/\" target=\"_blank\" rel=\"noreferrer noopener\">Wael Bachta<\/a><\/strong>, Lecturer<\/p>\n","protected":false},"featured_media":10006,"template":"","isir_news_categories":[260],"class_list":["post-9577","isir_news","type-isir_news","status-publish","has-post-thumbnail","hentry","isir_news_categories-soutenance"],"_links":{"self":[{"href":"https:\/\/www.isir.upmc.fr\/wp-json\/wp\/v2\/isir_news\/9577","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.isir.upmc.fr\/wp-json\/wp\/v2\/isir_news"}],"about":[{"href":"https:\/\/www.isir.upmc.fr\/wp-json\/wp\/v2\/types\/isir_news"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.isir.upmc.fr\/wp-json\/wp\/v2\/media\/10006"}],"wp:attachment":[{"href":"https:\/\/www.isir.upmc.fr\/wp-json\/wp\/v2\/media?parent=9577"}],"wp:term":[{"taxonomy":"isir_news_categories","embeddable":true,"href":"https:\/\/www.isir.upmc.fr\/wp-json\/wp\/v2\/isir_news_categories?post=9577"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}