Design of a virtual environment with adaptation of immersion for wheelchair driving simulation
Identifieur interne : 000159 ( Hal/Curation ); précédent : 000158; suivant : 000160Design of a virtual environment with adaptation of immersion for wheelchair driving simulation
Auteurs : Frédéric Goncalves [France]Source :
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English descriptors
Abstract
This thesis focuses on the adaptation of the immersion in a driving wheelchair simulation. This is the study of sensory feedback realism involved in a virtual environment in order to adapt the immersion according to user preferences and the task to perform. These works were performed within the AccesSim project supported by the Ile de France region. The project objective is to develop a dynamic simulator to evaluate the accessibility and also urban environment, to conduct training in the use of wheelchairs.In the context of wheelchair driving, it is necessary that the driving behavior is consistent between a real situation and a simulated situation. To do this, we need the virtual environment and the sensory feedback to be sufficiently realistic and immersive. Our proposal is to specify an immersive configuration adapting haptic and visual feedback from the simulator. We validated this hypothesis using the simulator developed within the AccesSim project.In the first part of the thesis, the contribution focuses on the design of the AccesSim simulator. This design focuses on the software environment responsible for the innovative features: assistance for accessibility diagnosis and 3D navigation with a wheelchair using a dynamic model. To enable navigation in a wheelchair, the simulator is coupled to a robotic platform integrating haptic and vestibular feedback.The second part of the thesis focuses on the analysis of driving behavior of users. It comes to comparing the driving in real and virtual situation depending on the configuration of the simulator. This analysis shows the sensitivity of results towards profiles of users and immersion.Finally, we studied the different sensory feedback involved in the quality of immersion. The first feedback concerns the vestibular sense. It depends on haptic feedback simulator. This additional sensory feedback should improve driving performance of the user. We evaluated the perception on the basis of a task consisting in going down a step using a wheelchair. In the thesis we have shown the performance of our solution and the need to adapt the haptic feedback for each user.The second sensory feedback investigated concerns visual feedback. We proposed a modular configuration of visual immersion. It allows immersion more or less egocentric. By analyzing the trajectories of users performed with the different configurations of immersion, we can evaluate the most efficient configuration depending on the environment and preferences of each user.These two studies on sensory feedback were based on evaluations with two groups of users: an expert group (therapists and ergonomists) and a group of people with disabilities.
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<front><div type="abstract" xml:lang="en">This thesis focuses on the adaptation of the immersion in a driving wheelchair simulation. This is the study of sensory feedback realism involved in a virtual environment in order to adapt the immersion according to user preferences and the task to perform. These works were performed within the AccesSim project supported by the Ile de France region. The project objective is to develop a dynamic simulator to evaluate the accessibility and also urban environment, to conduct training in the use of wheelchairs.In the context of wheelchair driving, it is necessary that the driving behavior is consistent between a real situation and a simulated situation. To do this, we need the virtual environment and the sensory feedback to be sufficiently realistic and immersive. Our proposal is to specify an immersive configuration adapting haptic and visual feedback from the simulator. We validated this hypothesis using the simulator developed within the AccesSim project.In the first part of the thesis, the contribution focuses on the design of the AccesSim simulator. This design focuses on the software environment responsible for the innovative features: assistance for accessibility diagnosis and 3D navigation with a wheelchair using a dynamic model. To enable navigation in a wheelchair, the simulator is coupled to a robotic platform integrating haptic and vestibular feedback.The second part of the thesis focuses on the analysis of driving behavior of users. It comes to comparing the driving in real and virtual situation depending on the configuration of the simulator. This analysis shows the sensitivity of results towards profiles of users and immersion.Finally, we studied the different sensory feedback involved in the quality of immersion. The first feedback concerns the vestibular sense. It depends on haptic feedback simulator. This additional sensory feedback should improve driving performance of the user. We evaluated the perception on the basis of a task consisting in going down a step using a wheelchair. In the thesis we have shown the performance of our solution and the need to adapt the haptic feedback for each user.The second sensory feedback investigated concerns visual feedback. We proposed a modular configuration of visual immersion. It allows immersion more or less egocentric. By analyzing the trajectories of users performed with the different configurations of immersion, we can evaluate the most efficient configuration depending on the environment and preferences of each user.These two studies on sensory feedback were based on evaluations with two groups of users: an expert group (therapists and ergonomists) and a group of people with disabilities.</div>
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<abstract xml:lang="en">This thesis focuses on the adaptation of the immersion in a driving wheelchair simulation. This is the study of sensory feedback realism involved in a virtual environment in order to adapt the immersion according to user preferences and the task to perform. These works were performed within the AccesSim project supported by the Ile de France region. The project objective is to develop a dynamic simulator to evaluate the accessibility and also urban environment, to conduct training in the use of wheelchairs.In the context of wheelchair driving, it is necessary that the driving behavior is consistent between a real situation and a simulated situation. To do this, we need the virtual environment and the sensory feedback to be sufficiently realistic and immersive. Our proposal is to specify an immersive configuration adapting haptic and visual feedback from the simulator. We validated this hypothesis using the simulator developed within the AccesSim project.In the first part of the thesis, the contribution focuses on the design of the AccesSim simulator. This design focuses on the software environment responsible for the innovative features: assistance for accessibility diagnosis and 3D navigation with a wheelchair using a dynamic model. To enable navigation in a wheelchair, the simulator is coupled to a robotic platform integrating haptic and vestibular feedback.The second part of the thesis focuses on the analysis of driving behavior of users. It comes to comparing the driving in real and virtual situation depending on the configuration of the simulator. This analysis shows the sensitivity of results towards profiles of users and immersion.Finally, we studied the different sensory feedback involved in the quality of immersion. The first feedback concerns the vestibular sense. It depends on haptic feedback simulator. This additional sensory feedback should improve driving performance of the user. We evaluated the perception on the basis of a task consisting in going down a step using a wheelchair. In the thesis we have shown the performance of our solution and the need to adapt the haptic feedback for each user.The second sensory feedback investigated concerns visual feedback. We proposed a modular configuration of visual immersion. It allows immersion more or less egocentric. By analyzing the trajectories of users performed with the different configurations of immersion, we can evaluate the most efficient configuration depending on the environment and preferences of each user.These two studies on sensory feedback were based on evaluations with two groups of users: an expert group (therapists and ergonomists) and a group of people with disabilities.</abstract>
<abstract xml:lang="fr">Cette thèse porte sur l’adaptation de l’immersion lors de la simulation de conduite en fauteuil roulant. Il s’agit d’étudier le réalisme des retours sensoriels impliqués dans un environnement virtuel afin de pouvoir adapter l’immersion en fonction des préférences de l’utilisateur et de la tâche à accomplir. Ces travaux ont été effectués dans le cadre du projet AccesSim soutenu par la région Ile–de-France. L'objectif du projet est de développer un simulateur dynamique pour évaluer l'accessibilité d'environnement urbain et également, de procéder à l'entraînement à l’usage de fauteuils roulants.Dans le cadre de la conduite en fauteuil roulant, il est nécessaire que le comportement de conduite soit cohérent entre une situation réelle et une situation simulée. Pour cela, il faut que l’environnement virtuel et les retours sensoriels soient suffisamment immersifs et réalistes. Notre proposition est de spécifier une configuration immersive en adaptant les retours haptiques et visuels du simulateur. Nous avons validé cette hypothèse à l’aide du simulateur développé dans le cadre du projet AccesSim.Dans la première partie de la thèse, la contribution porte sur la conception du simulateur AccesSim. Cette conception porte sur l’environnement logiciel en charge des fonctionnalités innovantes : aide au diagnostic d’accessibilité et navigation 3D en fauteuil roulant à l’aide d’un modèle dynamique de fauteuil roulant. Pour permettre une navigation en fauteuil roulant, le simulateur est couplé à une plateforme robotique intégrant des retours haptiques et vestibulaires.La seconde partie de la thèse porte sur l’analyse du comportement de conduite des utilisateurs. Il s’agit de comparer la conduite en situation réelle et en situation virtuelle en fonction de la configuration du simulateur. Cette analyse montre la sensibilité des résultats vis-à-vis des profils des usagers et de l’immersion.Enfin, nous avons étudié les différents retours sensoriels participant à la qualité de l’immersion. Le premier retour concerne le sens vestibulaire. Il est dépendant des retours haptiques du simulateur robotique. Ce retour sensoriel supplémentaire doit permettre d’améliorer les performances de conduite de l’utilisateur. Nous avons évalué la perception de ce retour sur la base d’une tâche de descente d’une marche à l’aide d’un fauteuil roulant. Dans la thèse, nous avons montré les performances de notre solution ainsi que le besoin d’adapter ce retour haptique pour chaque utilisateur.Le second retour sensoriel étudié concerne les retours visuels. Nous avons proposé une configuration d’immersion visuelle modulable. Elle permet une immersion plus ou moins égocentrée. En analysant les trajectoires d’utilisateurs effectuées avec les différentes configurations d’immersion, nous pouvons évaluer la configuration la plus efficace en fonction de l’environnement et des préférences de chaque utilisateur.Ces deux études sur les retours sensoriels ont été basées sur des évaluations avec deux groupes d’utilisateurs : un groupe d’expert (thérapeutes et ergonomes) et un groupe de personnes en situation de handicap.</abstract>
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