Yves Rybarczyk | Nova University of Lisbon - Portugal (original) (raw)
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Papers by Yves Rybarczyk
Colle : " Remote control of a biomimetics robot assistance system for disabled persons"... more Colle : " Remote control of a biomimetics robot assistance system for disabled persons" -Modelling Measurement and Control, 2002, to appear. Abstract The goal of the ARPH project is to restore autonomy to disabled people by increasing their field of intervention. The process will involve an assistive system composed of a mobile robot-mounted arm and a control station that allows it to be remote-controlled. The human-machine cooperation will take place through a client-server computational architecture. The ergonomic question therefore is to find out the cognitive problems involved when an operator carries out a remote control action on the environment. Thereafter, we shall proceed to examine how behavioural neuroscience can bridge the existing gap between humans and machines. This gap is categorised as "disembodiment". In the course of our research, the reduction of the disembodiment was studied in two ways. Firstly, from the robot to the human, by evaluating how...
IEEE International Conference on Systems, Man and Cybernetics, 2002
Technologies or know how derived from robotic researches can contribute to the restoration of som... more Technologies or know how derived from robotic researches can contribute to the restoration of some functions lost by disabled people. However the overcost generated by the additive potentialities must be affordable and related to the value of the usual product.
IFIP Advances in Information and Communication Technology, 2014
EAI Endorsed Transactions on Creative Technologies, 2014
An increasing number of our interactions are mediated through e-technologies. In order to enhance... more An increasing number of our interactions are mediated through e-technologies. In order to enhance the human's feeling of presence into these virtual environments, also known as telepresence, the individual is usually embodied into an avatar. The natural adaptation capabilities, underlain by the plasticity of the body schema, of the human being make a body ownership of the avatar possible, in which the user feels more like his/her virtual alter ego than himself/herself. However, this phenomenon only occurs under specific conditions. Two experiments are designed to study the human's feeling and performance according to a scale of natural relationship between the participant and the avatar. In both experiments, the human-avatar interaction is carried out by a Natural User Interface (NUI) and the individual's performance is assessed through a behavioural index, based on the concept of affordances, and a questionnaire of presence The first experiment shows that the feeling of telepresence and ownership seem to be greater when the avatar's kinematics and proportions are close to those of the user. However, the efficiency to complete the task is higher for a more mechanical and stereotypical avatar. The second experiment shows that the manipulation of the viewpoint induces a similar difference across the sessions. Results are discussed in terms of the neurobehavioral processes underlying performance in virtual worlds, which seem to be based on ownership when the virtual artefact ensures a preservation of sensorimotor contingencies, and simple geometrical mapping when the conditions become more artificial.
Introduction: The affordances available to an individual are scaled to the individual’s body. Thi... more Introduction: The affordances available to an individual are scaled to the individual’s body. This scaling factor is important because it links object or environment properties and individual’s dimensions through an invariant value. This means there is a lawful relation underpinning (at least some) affordances. For instance, participants deem a stair climbable without the aid of hands if the raiser is smaller than 0.88 their leg length (Warren, 1984), and participants rotate their shoulders over their longitudinal axis if the aperture is smaller than 1.4 the width of their shoulders (Warren & Whang, 1987). In the present study we replicated the study of Warren and Whang in a virtual environment. Methods: Participants were 24 students who used a Kinect Natural User Interface to control an avatar passing through apertures. Participants performed 32 trials for each of 2 speed conditions and 4 practice sessions. There were two avatar conditions. The standard avatar condition displayed a...
An increasing trend in Human-Machine Interaction is the development of a tighter connection betwe... more An increasing trend in Human-Machine Interaction is the development of a tighter connection between the human user and the device. This paper analyses the possibility of creating a low-cost system that enables a person to use a group of muscles to control a different part of his body using Electromyography (EMG). This system features an EMG reader, two processing boards and a robotic hand, and was tested in both ideal and practical conditions. Despite being possible to see satisfactory results in some subjects' first uses, it was concluded that the practicing time was a key factor on the precision of the artificial limb control.
Colle : " Remote control of a biomimetics robot assistance system for disabled persons"... more Colle : " Remote control of a biomimetics robot assistance system for disabled persons" -Modelling Measurement and Control, 2002, to appear. Abstract The goal of the ARPH project is to restore autonomy to disabled people by increasing their field of intervention. The process will involve an assistive system composed of a mobile robot-mounted arm and a control station that allows it to be remote-controlled. The human-machine cooperation will take place through a client-server computational architecture. The ergonomic question therefore is to find out the cognitive problems involved when an operator carries out a remote control action on the environment. Thereafter, we shall proceed to examine how behavioural neuroscience can bridge the existing gap between humans and machines. This gap is categorised as "disembodiment". In the course of our research, the reduction of the disembodiment was studied in two ways. Firstly, from the robot to the human, by evaluating how...
IEEE International Conference on Systems, Man and Cybernetics, 2002
Technologies or know how derived from robotic researches can contribute to the restoration of som... more Technologies or know how derived from robotic researches can contribute to the restoration of some functions lost by disabled people. However the overcost generated by the additive potentialities must be affordable and related to the value of the usual product.
IFIP Advances in Information and Communication Technology, 2014
EAI Endorsed Transactions on Creative Technologies, 2014
An increasing number of our interactions are mediated through e-technologies. In order to enhance... more An increasing number of our interactions are mediated through e-technologies. In order to enhance the human's feeling of presence into these virtual environments, also known as telepresence, the individual is usually embodied into an avatar. The natural adaptation capabilities, underlain by the plasticity of the body schema, of the human being make a body ownership of the avatar possible, in which the user feels more like his/her virtual alter ego than himself/herself. However, this phenomenon only occurs under specific conditions. Two experiments are designed to study the human's feeling and performance according to a scale of natural relationship between the participant and the avatar. In both experiments, the human-avatar interaction is carried out by a Natural User Interface (NUI) and the individual's performance is assessed through a behavioural index, based on the concept of affordances, and a questionnaire of presence The first experiment shows that the feeling of telepresence and ownership seem to be greater when the avatar's kinematics and proportions are close to those of the user. However, the efficiency to complete the task is higher for a more mechanical and stereotypical avatar. The second experiment shows that the manipulation of the viewpoint induces a similar difference across the sessions. Results are discussed in terms of the neurobehavioral processes underlying performance in virtual worlds, which seem to be based on ownership when the virtual artefact ensures a preservation of sensorimotor contingencies, and simple geometrical mapping when the conditions become more artificial.
Introduction: The affordances available to an individual are scaled to the individual’s body. Thi... more Introduction: The affordances available to an individual are scaled to the individual’s body. This scaling factor is important because it links object or environment properties and individual’s dimensions through an invariant value. This means there is a lawful relation underpinning (at least some) affordances. For instance, participants deem a stair climbable without the aid of hands if the raiser is smaller than 0.88 their leg length (Warren, 1984), and participants rotate their shoulders over their longitudinal axis if the aperture is smaller than 1.4 the width of their shoulders (Warren & Whang, 1987). In the present study we replicated the study of Warren and Whang in a virtual environment. Methods: Participants were 24 students who used a Kinect Natural User Interface to control an avatar passing through apertures. Participants performed 32 trials for each of 2 speed conditions and 4 practice sessions. There were two avatar conditions. The standard avatar condition displayed a...
An increasing trend in Human-Machine Interaction is the development of a tighter connection betwe... more An increasing trend in Human-Machine Interaction is the development of a tighter connection between the human user and the device. This paper analyses the possibility of creating a low-cost system that enables a person to use a group of muscles to control a different part of his body using Electromyography (EMG). This system features an EMG reader, two processing boards and a robotic hand, and was tested in both ideal and practical conditions. Despite being possible to see satisfactory results in some subjects' first uses, it was concluded that the practicing time was a key factor on the precision of the artificial limb control.