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A New Approach for Handling Element Accessibility Problems Faced by Persons with a Wheelchair

Saidi Sief A., Pruski A., Bennia A.

Journal of Automation Mobile Robotics and Intelligent Systems

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2016

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Vol. 10, No. 4

27--39

EN

The built environment accessibility evaluation is required if the person physical capacities no longer correspond to the habitat requirements, which generally occur after an accident. For the person with disabilities, the inner accessibility of habitat is a highly important factor that allows him to live and work independently. This paper presents a new approach to determine the accessibility of handling elements like doors, windows, etc. inside the habitat for the wheelchair user. Thus, allowing housing professionals to assess the needed changes in terms of accessibility. The idea is to involve a new computer approach to evaluating the performance of these elements against wheelchair user capacity. The presented approach simulated wheelchair user behavior when he/ she is operating a handling element in order to determine the dimensions/positions of wheelchair clearance space and handle grip optimal heights while considering wheelchair arrival direction and respecting joint limits constraints of person upper body and wheelchair nonholonomy constraints.

2

Interaction management between social agents and human

Moussaoui A., Pruski A., Cherki B.

Journal of Automation Mobile Robotics and Intelligent Systems

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2011

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Vol. 5, No. 1

8-15

EN

In this paper we address the problem of managing social interactions between a human user and a set of social agents in structured environments. These agents have to regulate a measurable characteristic of the user. Our study focuses mainly therapeutic, caring for elderly people and assessment applications. The agent concept considered in this study is suitable for multi-robot systems (physical, service, mobile or not), but also to virtual agents (avatars) in a virtual reality (VR) application. The proposed approach has been adapted for an application of social phobia treatment using virtual reality. Thus, we conducted a case study to show the effectiveness of our contribution.

3

A comparative study of incremental algorithms for computing the inverse kinematics of redundant articulated

Moussaoui A., Otmani R., Pruski A.

Journal of Automation Mobile Robotics and Intelligent Systems

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2010

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Vol. 4, No. 3

3-9

EN

The field of control of redundant articulated mechanical systems requires the use of algorithms to compute the inverse kinematics. The fields of animation, virtual reality or game in particular, are very interested in these algorithms. We propose in this paper a comparison between several algorithms of incremental type. The considered application concerns the accessibility evaluation of an environment used by a handicapped person (an apartment, a house, an institution…). The physical disability involves a particular characteristic of the human articulated structure that gives rise to constraints that must be taken into account in computing the inverse kinematics.