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Introduction
- Interactive and autonomous system (control theory approach)
- Wearable Internet of Mind subsystem
- Cyber physical social system
- Robotic process
Current institution
Additional affiliations
January 2010 - October 2011
January 2004 - December 2010
January 2002 - December 2004
Publications
Publications (98)
The advent of mass customization has precipitated a need within the industry for the implementation of collaborative robots, which facilitate the integration of human cognitive capabilities with the speed and repeatability of robots. This coupling, however, engenders a closer collaboration between the partners, thereby necessitating collective syne...
Le processus de désassemblage des batteries permet, dans une économie circulaire de proximité axée sur les énergies renouvelables, de favoriser une transition énergétique responsable et durable. Les tâches évolutives entre les modèles de batteries introduisent la nécessité d’utiliser les compétences humaines dans le processus tout en les maximisant...
Several methods combining biomedical and computer-based approaches have been used to address the risk of falls among the elderly using instrumented insoles. Machine-learning techniques in gait analysis has proven to be a promising solution when using instrumented insoles. However, no study has investigated the risk of falls associated with a sequen...
Recently, estimating the state of health of batteries has been widely investigated in several research works. These researches are often based on data acquired at constant temperature, which does not reflect battery operating conditions. In this study, battery internal resistance estimation based on parametric equations and feedforward network cons...
The cable-driven parallel mechanism (CDPM) is known as an interesting application in industry to pick and place objects owing to its advantages such as large workspaces. In addition to the advantages of this mechanism, there are some challenges to improving performance by considering constraints in different components, such as the behavior of cabl...
This paper proposes a novel approach to reducing the environmental impact of marine traffic on cetaceans, focusing on controlling vessel velocity to minimize underwater noise. The approach is based on a simulation system integrating a dynamic vessel model, an autopilot (with Integral Line-Of-Sight guidance law), a noise transmission model, a wind a...
We present a smartphone-based solution to help visually impaired people autonomously navigate in urban environments. Contrary to previous works in the literature, the newly proposed system in this paper aims to determine the coefficient of friction (COF) of a soil for aiding in the safe movement of blind and visually impaired people (BVIP). Through...
The emerging needs of human beings are pushing manufacturing companies from mass production to mass customization. The occurrence of these new challenges leads to a change of scenario where the robot no longer works isolated from human to a scenario in which the robot collaborates with the human in the same workspace (collaborative robotics). Weara...
Several studies have shown good accuracies for step count based on pressure signals of smart insoles in people walking at different speeds. Although smart insoles are often equipped with pressure sensors and accelerometer, no study has focused on comparing the accuracy of step count separately based on pressure and acceleration signals in healthy p...
Background
Wearable activity monitors such as ActiGraph monitoring devices are widely used, especially in research settings. Various research studies have assessed the criterion validity of ActiGraph devices for step counting and distance estimation in adults and older adults. Although several studies have used the ActiGraph devices as a reference...
![Figure 2. Second group of driving constraints [29].](profile/Elham-Khoshbin/publication/363192078/figure/fig2/AS:11431281082565067@1662053617534/Second-group-of-driving-constraints-29_Q320.jpg)
Productivity can be increased by manipulators tracking the desired trajectory with some constraints. Humans as moving obstacles in a shared workspace are one of the most challenging problems for cable-driven parallel mechanisms (CDPMs) that are considered in this research. One of the essential primary issues in CDPM is collision avoidance among cab...
![A binary classifier based on the Limited-Memory Warping LCSS [21].](publication/355464007/figure/fig1/AS:11431281350492011@1743752275429/A-binary-classifier-based-on-the-Limited-Memory-Warping-LCSS-21_Q320.jpg)
Discretization and feature selection are two relevant techniques for dimensionality reduction. The first one aims to transform a set of continuous attributes into discrete ones, and the second removes the irrelevant and redundant features; these two methods often lead to be more specific and concise data. In this paper, we propose to simultaneously...
Advances in robotics are part of reducing the burden associated with manufacturing tasks in workers. For example, the cobot could be used as a “third-arm” during the assembling task. Thus, the necessity of designing new intuitive control modalities arises. This paper presents a foot gesture approach centered on robot control constraints to switch b...
Recent population migrations have led to numerous accidents and deaths. Little research has been done to help migrants in their journey. For this reason, a literature review of the latest research conducted in previous years is required to identify new research trends in human-swarm interaction. This article presents a review of techniques that can...
Previously, studies reported that falls analysis is possible in the elderly, when using wearable sensors. However, these devices cannot be worn daily, as they need to be removed and recharged from time-to-time due to their energy consumption, data transfer, attachment to the body, etc. This study proposes to introduce a radar sensor, an unobtrusive...
As a result of extensive research in the field of mobile robots (rovers) and swarms, a number of algorithms exist to assist them for executing a mission in the three levels of software architecture: strategic (interaction loop level), tactic (planning) and operational (sensing, control and actuation). They allow them to achieve their goals while ad...
Purpose: As the instrumented insole is for a wide commercial range available in the retail trade, this study aims to reduce its overall cost using less sensors with carrying out an effective risk of falling evaluation. Methods: We compared the effect of reducing balance parameters by using four and three force sensing resistors (FSRs) of an instrum...
Due to occlusion or detached markers, information can often be lost while capturing human motion with optical tracking systems. Based on three natural properties of human gait movement, this study presents two different approaches to recover corrupted motion data. These properties are used to define a reconstruction model combining low-rank matrix...
Cable driven parallel mechanisms (CDPMs) have attracted much attention due to their many advantages over conventional parallel mechanisms, such as the significantly large workspace and the dynamics capacity. One of the main issues involved in designing CDPMs is avoiding cable-cable collision, especially when an operator is sharing the same workspac...
Different geopolitical conflicts of recent years have led to mass migration of several civilian populations. These migrations take place in militarized zones, indicating real danger contexts for the populations. Indeed, civilians are increasingly targeted during military assaults. Defense and security needs have increased; therefore, there is a nee...
PurposeSeveral studies use force sensitive resistors (FSR) to compute gait and balance parameters related to falls without investigating the number of sensor units required to produce useful information. We propose a model with minimal sensors for an instrumented insole by investigating and optimizing the location and variety of sensors required to...
Estimating the geometric parameters of a cable-driven parallel robot (CDPR) can be a labour intensive process or one that requires expensive sensors. This paper presents a low-cost method for estimating initial cable lengths and fixed cable attachment points of CDPRs. The proposed approach relies on the detection, mapping and localisation of fiduci...
Operating power tools over extended periods of time can pose significant risks to humans, due to the strong forces and vibrations they impart to the limbs. Telemanipulation systems can be employed to minimize these risks, but may impede effective task performance due to the reduced sensory cues they typically convey. To address this shortcoming, we...
![Figure 10. Zoom on first results of samples [1,200] using N4SID1 and N4SID2](profile/Mohamed-Ali-Jemmali/publication/333633372/figure/fig1/AS:766474402676737@1559753146368/Zoom-on-first-results-of-samples-1-200-using-N4SID1-and-N4SID2_Q320.jpg)
Purpose : Nonlinear systems identification from experimental data without any prior knowledge of the system parameters is a challenge in control and process diagnostic.
It determines mathematical model parameters that are able to reproduce the dynamic behavior of a system. This paper aims to combine two fundamental research areas: MIMO state space...
Cable interferences and collisions can lead to unpredictable behavior when a human physically interacts with a cable-driven parallel mechanism through its mobile platform. This paper presents an interactive control approach to prevent two cables in interference from folding onto one another, and thus preserve the cable-mechanism geometry. In this a...
Mesures électrophysiologiques: indicateurs d’exposition aux microblessures
anatomiques à risque de troubles musculosquelettiques
Résultats d’une étude préliminaire
This poster presents a control's method of an autonomous third robotic hand that performs various physical tasks to assist a worker and therefore reduces the musculoskeletal disorders.
This study aimed to validate the measurement of a pain-related index by the modulation of energy measured with the EEG signal during a bimanual visual-motor task
Introduction: Several researchers have demonstrated the positive benefits of auditory and visual cueing in the gait improvements among individuals with Parkinson’s disease (PD). However, few studies have evaluated the role of vibrotactile cueing when compared to auditory and visual cueing. This paper compares how these stimuli affect the risk of fa...
Interactive robot doing collaborative work in hybrid work cell need adaptive trajectory planning strategy. Indeed, systems must be able to generate their own trajectories without colliding with dynamic obstacles like humans and assembly components moving inside the robot workspace. The aim of this paper is to improve collision-free motion planning...
This paper suggests an assistive system for the toilet with the objective of measuring human activities and to provide intelligent mechanical assistance to help seating and standing. The project intends to develop a seating assistance as a technical aid in order to reduce accidents and falls in the bathroom. The preferred technique is human-robot p...
Inadequate postures adopted by an operator at work are among the most important risk factors in Work-related Musculoskeletal Disorders (WMSDs). Although several studies have focused on inadequate posture, there is limited information on its identification in a work context. The aim of this study is to automatically differentiate between adequate an...
Physical human–robot interaction may present an obstacle to transparency and operations’ intuitiveness. This barrier could occur due to the vibrations caused by a stiff environment interacting with the robotic mechanisms. In this regard, this article aims to deal with the aforementioned issues while using an observer and an adaptive gain controller...
In rehabilitation training, high-fidelity simulation environments are needed for reproducing the effects of slippery surfaces, in which potential balance failure conditions can be reproduced on demand. Motivated by these requirements, this article considers the design of variable-friction devices for use in the context of human walking on surfaces...
Commercially available prosthetic hands do not convey any tactile information, forcing amputees to rely solely on visual attention. A promising solution to this problem is haptics, which could lead to new prostheses in which tactile information is conveyed between the amputee and the artificial limb. This paper investigates how the simultaneous app...
This paper is concerned with the finite-time chaotic synchronization and dynamic errors in finite-time stabilization of master-slave systems. We suggest solving these issues using a virtual recursive adaptive nonlinear controller when different unknown parameters occur. Therefore, a systematic design approach is defined for constructing both virtua...
Enhancement of human performance using an intelligent assist device is becoming more common. In order to achieve effective augmentation of human capacity, cooperation between human and robot must be safe and very intuitive. Ensuring such collaboration remains a challenge, especially when admittance control is used. This paper addresses the issues o...
This paper focuses on the problem of finite-time stabilization of homogeneous, non-Lipschitz systems with dilations. A key contribution of this paper is the design of a virtual recursive Hölder, non-Lipschitz state feedback, which renders the non-Lipschitz systems in the special case dominated by a lower-triangular nonlinear system finite-time stab...
Background:
Our daily activities imply displacements on various types of soil. For persons with gait disorder or losing functional autonomy, walking on some types of soil could be challenging because of the risk of falling it represents.
Methods:
In this paper, we present, in a first part, the use of an enactive shoe for an automatic differentia...
This paper presents a time-domain vibration observer and controller for physical Human-Robot Interaction (pHRI). The proposed observer/controller aims at reducing or eliminating vibrations that may occur in stiff interactions. The vibration observer algorithm first detects minima and maxima of a given signal with robustness in regards to noise. Bas...
Risk of falling assessment using one leg standing and timed up and go tests
The aim of this study is to improve and facilitate the methods used to assess risk of falling at home among older people through the computation of a risk of falling in real time in daily activities. In order to increase a real time computation of the risk of falling, a closed-loop balance model is proposed and compared with One-Leg Standing Test (...
Degradation of postural control observed with aging is responsible for balance problems in the elderly, especially during the activity of walking. This gradual loss of performance generates abnormal gait, and therefore increases the risk of falling. This risk worsens in people with neuronal pathologies like Parkinson and Ataxia diseases. Many clini...
Musculoskeletal disorders (MSDs) have affected an increasing number of people in the active general population. In this perspective, we developed a measuring tool taking muscle activities in certain regions of the body, standing posture taking the center of pressure under the feet and feet positions. This tool also comprises an instrumented helmet...
The method can determine physical properties of the ground stepped upon by a user wearing a footwear incorporating an accelerometer, and includes: receiving a raw signal from the accelerometer during at least one step being taken by the user on the ground; identifying, in the received raw signal, at least one characteristic signature; associating t...
The aim of this study is to improve and facilitate the methods used to assess risk of falling among older people at home. We propose an automatic version of One-Leg Standing (OLS) test for risk of falling assessment by using a Smartphone and an instrumented insole. For better clinical assessment tests, this study focuses on exploring methods to com...
The risk of falling in elderly persons with neurodegenerative disease as Parkinson’s disease is generally assessed by clinical tests such as the Timed Up and Go test, the Tinetti test, the oneleg standing test, and others. Most of these tests are performed in a clinical environment, which could lead to spending time and money. Current studies have...
It is known that head gesture and brain activity can reflect some human behaviors related to a risk of accident when using machine-tools. The research presented in this paper aims at reducing the risk of injury and thus increase worker safety. Instead of using camera, this paper presents a Smart Safety Helmet (SSH) in order to track the head gestur...
In a near future, human and industrial manipulator will work together sharing a common workspace and production activities leading to a potential increase of accident. The research project concerns the adaptation of industrial robot already installed in a flexible manufacturing system in order to make it more interactive with human. The aim concern...
Providing a safe and rich environment to achieve ambulatory rehabilitation of the elderly, accident victims, or physically impaired patients, has motivated many researchers to develop lower limb prosthetic systems able to transmit physical stimuli at the skin surface. To this end, we propose a novel event-based method of synthesizing the vibratory...
Audio and haptic cueing have proven their usability to assist gait for patients with Parkinson’s disease. These cueings are used when a gait issue is classified in real-time by an artificial intelligent algorithm using wearable IMU signals located at the lower limb. Such gait issue could be freezing of gait (FOG) and Bradykinesia symptoms. This sys...
It is known that the type of the soil can affect balance. Here we report an automatic system having: a serious game, a physical setup and an intelligent clothe designed for training users at maintaining balance over five types of soil (broken stone, stone dust, sand, concrete and wood). By using an augmented shoe and proposed navigation metaphor, i...
With this paper, we report a novel wearable interface dedicated to provide new types of 3D interactions with mobile devices. Proposed interface is based on the fact that the foot can be exploited in the interaction with a virtual 3D world. By using several force sensors incorporated in the sole and an accelerometer attached to the shoe; gestures pe...
Falls represent a major challenge to mobility for the elderly community, a point that has motivated various studies of balance failures. To support this work, we are interested in mechanisms for the synthesis of ground environments that can be controlled to exhibit dynamic friction characteristics. As a first step, we investigate the design and dev...
Walking in an unfamiliar environment may include some risk of falling. For frail seniors, these risks can significantly increase according to their ability to maintain balance. Among several factors, the user's balance can be affected by several risks including the characteristics of the user's gait. To overcome this issue, this paper presents thre...
With this paper, we report a novel wearable interface dedicated to provide new types of 3D interactions with mobile devices. Proposed interface is based on the fact that the foot can be exploited in the interaction with a virtual 3D world. By using several force sensors incorporated in the sole and an accelerometer attached to the shoe, gestures pe...
Alzheimer disease becomes a major issue in elder population. To enhance their autonomy and solve future financial issues, we propose an adaptive game based on a non-intrusive shoe-mounted accelerometer able to recognize daily activities and errors. By solving puzzles, the user can train himself his erroneous activities, and re-learn a few. The main...
Vision and auditory channels are often used to convey information quickly. Knowing that hearing and vision are generally loaded with plenty of stimuli, the use of touch as an alternative medium of communication could unload those senses. Although many studies have been conducted on hapic icons or tactile icons, few of them have focused on the foot...
Taking care of the elders constitutes a major issue in the western societies. Smart homes appear to be a socially and economically viable solution. They consist in habitats augmented with sensors and actuators enabling to achieve activity recognition and to provide assistive services to a resident. Stationary aspect of sensors used in most smart ho...
Touch screens as a mean for interacting with mobile applications are limited. Since the hands are already busy handling the phone or tablet, this paper proposes an innovative solution in handling digital entities with the feet. A three-axis accelerometer is arranged on a shoe in order to recognize its movement and to determine its position. Extract...
![Chemical process of Nafion plating with platinum [20].](publication/258441986/figure/fig2/AS:1089044419219459@1636659831785/Chemical-process-of-Nafion-plating-with-platinum-20_Q320.jpg)
This paper presents the electromechanical characterization of Nafion-Pt microlegs for the development of an insect-like hexapod BioMicroRobot (BMR). BMR microlegs are built using quasi-cylindrical Nafion-Pt ionomeric polymer-metal composite (IPMC), which has 2.5 degrees of freedom. The specific manufacturing process using a laser excimer for one le...
Considering the current pyramidal age of developed countries it appears that there is a need for tools that can automatically evaluate a person's ability to maintain balance. Proposed system, is a serious game running on the Android OS. It uses an augmented sole in order to measure movements realized by the user. For this evaluation, the same exerc...
It is known that the physical conditions of an environment might represent an important risk of falling. In this paper, we report an ongoing project toward the creation of intelligent clothes aiming at preventing falls related to such conditions. The package described here is centered on an intelligent shoe. The developed prototype counts two main...
To prevent accidental falls, we have designed an augmented shoe aiming at assisting a user when walking. For this, the risk level (low, medium, high and very high) represented by the current situation is conveyed to the user through vibrotactile messages. In this paper, we describe the design of a serious game dedicated to learning of these signals...
It is known that the type of the soil can affect balance. Here we report a serious game designed for training users at maintaining balance over five types of soil (broken stone, stone dust, sand, concrete and wood). By using an augmented shoe and proposed navigation metaphor, in this game, the user is invited to browse a maze while standing balance...
The method can determine physical properties of the ground stepped upon by a user wearing a footwear incorporating an accelerometer, and includes : receiving a raw signal from the accelerometer during at least one step being taken by the user on the ground; identifying, in the received raw signal, at least one characteristic signature; associating...
This paper investigates the design of a variable-friction floor device for clinical and rehabilitation applications. Several designs based on rolling elements were proposed and investigated. Coefficients of static friction were measured to compare capabilities of floor tiles made of ball transfer units or covered with PTFE. The measurements showed...
A rehabilitation device with a vibrotactile actuator is designed for analysis of slipping
behaviour on different surfaces. However, the coupling between a subject's lower limbs and the device reduces the accuracy of the ground simulation. A real-time algorithm is developed, based on an FFT filter-bank and a rheological limb model, which compensates...
The increasing use of parallel cable-driven mechanisms calls for a better understanding of their behavior and highly efficient algorithms to attenuate their drawbacks at the design stage. One of these drawbacks is the high probability of mechanical interferences between the moving parts of the mechanism. In this paper, the phenomenon is described u...
The haptic mechanism exploits software and hardware architectures that were specifically designed for managing a Cable-Driven Locomotion Interface driven by a haptic rendering engine for real-time applications. The architecture includes hybrid impedance, admittance and inertial-wrench control classes and two physics engines that permits the best ha...
A parallel cable-driven haptic interface is designed to allow interaction with any type of virtual object. This paper presents
and analyzes computational methods for addressing the issues regarding human safety and control reliability using such an
interface, thereby ensuring safe operations inside the virtual world. Four strategies are explored: s...
A Cable-Driven Locomotion Interface employs two independent cable-driven haptic foot platforms constrained in six degrees of freedom (6-DOF). Its control system and its geometry are designed for performing a wide range of trajectories that could generate cable interferences. This paper presents and analyzes computational methods for determining whi...
A Cable-Driven Locomotion Interface employs two independent cable-driven haptic foot platforms constrained in six degrees of freedom (6-DOF). Its control system and its geometry are designed for performing a wide range of trajectories that could generate cable interferences. This paper presents and analyzes computational methods for determining whi...
The intrinsic interaction of a robotic system that includes two 6-degree-of-freedom cable-driven platforms sharing a common workspace might result in cable interferences for random trajectories. This paper presents and analyzes computational methods for geometrically determining and managing these interferences for any trajectory constrained with v...
Abstract—A Cable-Driven Locomotion Interface provides a low inertia haptic interface and is used as a way,of enabling the user to walk and interact with virtual surfaces. These surfaces generate Cartesian wrenches,which,must,be optimized for each motorized reel in order to reproduce a haptic sensation in both feet. However, the use of wrench,contro...
Optimal tension control in parallel mechanisms for balancing wrench at the end‐effector introduces a complex model of the overall system. Moreover, actuator saturations such as motor current and angular velocity limits impose that a non‐linear system be controlled. Such a system is usually controlled sub‐optimally due to the complexity of its model...
![Fig. 1. CAD model of the complete CDLI (taken from [1])](profile/Martin-Otis/publication/234040256/figure/fig1/AS:339144820707330@1457869834507/CAD-model-of-the-complete-CDLI-taken-from-1_Q320.jpg)
A Cable-Driven Locomotion Interface provides a low inertia haptic interface and is used as a way of enabling the user to walk and interact with virtual surfaces. These surfaces generate Cartesian wrenches which must be optimized for each motorized reel in order to reproduce a haptic sensation in both feet. However, the use of wrench control require...
The control of haptic devices is a challenging task due to some inherent limitations and disadvantages that must first be taken into account. The difficulties are heightened when considering a locomotion interface where a walker produces large wrenches and where one must simulates the tactile sensation of any virtual object, be it rigid or soft. A...
The article presents technological advancements for the theoretical and practical design of the basic and elementary architecture of an autonomous hexapod biomicrorobot (BMR). The minimal autonomy depends on the management system of global, regional and local events. The planning in a constrained environment rests on a complex system which incorpor...
The biomicrorobotic is an emerging technology involving microelectronic, robotic and biomedical sciences and technologies in order to help medicine to perform better treatments. Autonomous biomicrorobots (BMR) needs a control core to perform special tasks. This paper describes a microcontroller architecture selected to perform BMR's control algorit...
This paper presents an artificial locomotion servo-system for an insect like hexapod biomicrorobot (BMR). This servo-system, programmed with VHDL code, will act as a driver in a RISC architecture microcontroller to reproduce insect tripod walking. An overview of the robot control system, in accordance with the insect displacement principle, is demo...
The use of field programmable gate arrays (FPGA) is a natural step
in the evolution of modern PET scanners to improve system flexibility,
increase design speed, and reduce electronic circuit size and cost.
Hybrid high-performance programmable digital interfaces integrating an
on-board FPGA and digital signal processor (DSP) were used to rebuild
the...
Questions
Question (1)
Dear Colleagues,
In recent years, we are witnessing innovations in the field of smart wearable and interactive mechatronic systems. Smart insoles, smart safety helmets, high definition haptic devices, eye movement sensors, functional fabrics, personalized wearable and biometric identification devices are some examples of innovations. One of the reasons for this new trend is the increase in computation capacity of System on a Chip (SOC) implemented on smart phones and smart watches. However, in order for these new technologies to reach their full potential, many challenges remain to be met such as power management, life duration, mechanical wear, transparency, size, weight, etc.
We invite high-quality, novel, innovative, and unpublished contributions on any topics focused on applied sciences using concepts in the fields of microelectronics, mechatronic, including, but not limited to:
MEMS sensors and actuators
Energy harvesters
Subcutaneous implantable system
Interactive microrobot and nanorobot
Wireless power
Internet of things in wearable devices
Interaction and collaboration technics with psychophysics studies
Human evaluation and perception
