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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   |texte=   Design of a virtual environment with adaptation of immersion for wheelchair driving simulation
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