Étude des conditions d'acceptabilité de la collaboration homme-robot en utilisant la réalité virtuelle

Abstract : Either in the context of the industry or of the everyday life, robots are becoming more and more present in our environment and are nowadays able to interact with humans. In industrial environments, robots now assist operators on the assembly lines for difficult and dangerous tasks. Then, robots and operators need to share the same physical space (copresence) and to manage common tasks (collaboration). On the one side, the safety of humans working near robots has to be guaranteed at all time. On the other hand, it is necessary to determine if such a collaborative work is accepted by the operators, in terms of usability and utility.The first problematic of the thesis consists in determining the important criteria that play a role in the acceptability, from the operators' point of view. Different factors can influence this acceptability: robot appearance, robot movements, safety distance or interaction modes with the robot.In order to study as many factors as possible, we intend to use virtual reality to perform user studies in virtual environments. We are using questionnaires to gather subjective impressions from operators and physiological measures to estimate their affective states (stress, effort). The second problematic of the thesis consists in determining if a methodology using virtual reality is relevant for this evaluation: can the results from studies in virtual environments be reproducible in equivalent physical situations?In order to answer the problematics of the thesis, three use cases have been implemented and four studies have been performed. Two of those studies rely on a physical situation and its virtual reality counterpart in order to evaluate the relevance of the results of the virtual situation compared to the real situation.
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Vincent Weistroffer. Étude des conditions d'acceptabilité de la collaboration homme-robot en utilisant la réalité virtuelle. Robotique [cs.RO]. Ecole Nationale Supérieure des Mines de Paris, 2014. Français. ⟨NNT : 2014ENMP0057⟩. ⟨tel-01144569⟩

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