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Papers by Ludovic Saint-Bauzel
2018 IEEE International Conference on Robotics and Automation (ICRA)
ACM Transactions on Human-Robot Interaction, 2022
This article presents the results of an experiment on physical Human-Human Interaction (pHHI), wh... more This article presents the results of an experiment on physical Human-Human Interaction (pHHI), where human dyads cooperate on a one-dimensional comanipulative task in a novel lightweight teleoperation setup. The results of this experiment show that humans are able to handle asymmetrical information about the task and solve conflicts using only the kinesthetic channel. Data from the pHHI experiment is used to design a virtual partner that can perform the task alongside a human. The virtual partner behavior is based on the observation that initiative is highly correlated to decision-making in our pHHI negotiation scenario. The virtual agent is then evaluated in a physical Human-Robot Interaction (pHRI) experiment. The results of the second experiment show that the virtual partner is able to perform the task without compromising the performances of the dyad and that a similar role distribution is observed in human-human and human-robot dyads. Moreover, the knowledge of the partner’s na...
HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci-entific ... more HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et a ̀ la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires
2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2021
This notebook is a summary of the course content on how to program a robot. It goes from the linu... more This notebook is a summary of the course content on how to program a robot. It goes from the linux driver writing to the high level programming of controller like robotic operating systems (ROS) and Open Robot Control Software (OROCOS). The last part discuss the use of real-time operating systems. The document include also some explanation on scheduling algorithms.
Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC), 2012
In this paper, a one degree of freedom teleoperation interface is presented. The design of this d... more In this paper, a one degree of freedom teleoperation interface is presented. The design of this device focuses on realizing a low-cost controller able to obtain good real-time performances for the acquisition of physical data during the interaction. Design choices and hardware used are presented, as well as the control strategy used for attaining transparency in teleoperation. The controller is able to maintain a 5kHz frequency control for the teleoperation, running on a BeagleBone black motherboard. The performances of the interface are presented
This paper presents the results of an experiment on physical Human-Human Interaction (pHHI), wher... more This paper presents the results of an experiment on physical Human-Human Interaction (pHHI), where human dyads cooperate on a one dimensional comanipulative task. The results of this experiment confirm the existence of an haptic communication between humans during low-impedance tasks. Data from the pHHI experiment is used to design a virtual partner which can collaborate with humans on the same task. The virtual partner behavior is based on the observation that initiative is highly correlated to decision-making in pHHI. The virtual agent is then evaluated in a physical Human-Robot Interaction (pHRI) experiment. The results of the second experiment show that the virtual partner is able to perform the task without compromising the performances of the dyad, and that a similar role distribution is observed in human-human and human-robot dyads. Moreover, the knowledge of the partner’s nature does not seem to influence the performances. The results obtained with the virtual partner are en...
Scientific Reports, 2021
Group decisions can outperform the choices of the best individual group members. Previous researc... more Group decisions can outperform the choices of the best individual group members. Previous research suggested that optimal group decisions require individuals to communicate explicitly (e.g., verbally) their confidence levels. Our study addresses the untested hypothesis that implicit communication using a sensorimotor channel—haptic coupling—may afford optimal group decisions, too. We report that haptically coupled dyads solve a perceptual discrimination task more accurately than their best individual members; and five times faster than dyads using explicit communication. Furthermore, our computational analyses indicate that the haptic channel affords implicit confidence sharing. We found that dyads take leadership over the choice and communicate their confidence in it by modulating both the timing and the force of their movements. Our findings may pave the way to negotiation technologies using fast sensorimotor communication to solve problems in groups.
Advances in Climbing and Walking Robots - Proceedings of 10th International Conference (CLAWAR 2007), 2007
2009 IEEE International Conference on Rehabilitation Robotics, 2009
Annals of Physical and Rehabilitation Medicine, 2012
Annals of Physical and Rehabilitation Medicine, 2012
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
Sensors
Detecting human motion and predicting human intentions by analyzing body signals are challenging ... more Detecting human motion and predicting human intentions by analyzing body signals are challenging but fundamental steps for the implementation of applications presenting human–robot interaction in different contexts, such as robotic rehabilitation in clinical environments, or collaborative robots in industrial fields. Machine learning techniques (MLT) can face the limit of small data amounts, typical of this kind of applications. This paper studies the illustrative case of the reaching movement in 10 healthy subjects and 21 post-stroke patients, comparing the performance of linear discriminant analysis (LDA) and random forest (RF) in: (i) predicting the subject’s intention of moving towards a specific direction among a set of possible choices, (ii) detecting if the subject is moving according to a healthy or pathological pattern, and in the case of discriminating the damage location (left or right hemisphere). Data were captured with wearable electromagnetic sensors, and a sub-sectio...
2018 IEEE International Conference on Robotics and Automation (ICRA)
ACM Transactions on Human-Robot Interaction, 2022
This article presents the results of an experiment on physical Human-Human Interaction (pHHI), wh... more This article presents the results of an experiment on physical Human-Human Interaction (pHHI), where human dyads cooperate on a one-dimensional comanipulative task in a novel lightweight teleoperation setup. The results of this experiment show that humans are able to handle asymmetrical information about the task and solve conflicts using only the kinesthetic channel. Data from the pHHI experiment is used to design a virtual partner that can perform the task alongside a human. The virtual partner behavior is based on the observation that initiative is highly correlated to decision-making in our pHHI negotiation scenario. The virtual agent is then evaluated in a physical Human-Robot Interaction (pHRI) experiment. The results of the second experiment show that the virtual partner is able to perform the task without compromising the performances of the dyad and that a similar role distribution is observed in human-human and human-robot dyads. Moreover, the knowledge of the partner’s na...
HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci-entific ... more HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et a ̀ la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires
2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2021
This notebook is a summary of the course content on how to program a robot. It goes from the linu... more This notebook is a summary of the course content on how to program a robot. It goes from the linux driver writing to the high level programming of controller like robotic operating systems (ROS) and Open Robot Control Software (OROCOS). The last part discuss the use of real-time operating systems. The document include also some explanation on scheduling algorithms.
Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC), 2012
In this paper, a one degree of freedom teleoperation interface is presented. The design of this d... more In this paper, a one degree of freedom teleoperation interface is presented. The design of this device focuses on realizing a low-cost controller able to obtain good real-time performances for the acquisition of physical data during the interaction. Design choices and hardware used are presented, as well as the control strategy used for attaining transparency in teleoperation. The controller is able to maintain a 5kHz frequency control for the teleoperation, running on a BeagleBone black motherboard. The performances of the interface are presented
This paper presents the results of an experiment on physical Human-Human Interaction (pHHI), wher... more This paper presents the results of an experiment on physical Human-Human Interaction (pHHI), where human dyads cooperate on a one dimensional comanipulative task. The results of this experiment confirm the existence of an haptic communication between humans during low-impedance tasks. Data from the pHHI experiment is used to design a virtual partner which can collaborate with humans on the same task. The virtual partner behavior is based on the observation that initiative is highly correlated to decision-making in pHHI. The virtual agent is then evaluated in a physical Human-Robot Interaction (pHRI) experiment. The results of the second experiment show that the virtual partner is able to perform the task without compromising the performances of the dyad, and that a similar role distribution is observed in human-human and human-robot dyads. Moreover, the knowledge of the partner’s nature does not seem to influence the performances. The results obtained with the virtual partner are en...
Scientific Reports, 2021
Group decisions can outperform the choices of the best individual group members. Previous researc... more Group decisions can outperform the choices of the best individual group members. Previous research suggested that optimal group decisions require individuals to communicate explicitly (e.g., verbally) their confidence levels. Our study addresses the untested hypothesis that implicit communication using a sensorimotor channel—haptic coupling—may afford optimal group decisions, too. We report that haptically coupled dyads solve a perceptual discrimination task more accurately than their best individual members; and five times faster than dyads using explicit communication. Furthermore, our computational analyses indicate that the haptic channel affords implicit confidence sharing. We found that dyads take leadership over the choice and communicate their confidence in it by modulating both the timing and the force of their movements. Our findings may pave the way to negotiation technologies using fast sensorimotor communication to solve problems in groups.
Advances in Climbing and Walking Robots - Proceedings of 10th International Conference (CLAWAR 2007), 2007
2009 IEEE International Conference on Rehabilitation Robotics, 2009
Annals of Physical and Rehabilitation Medicine, 2012
Annals of Physical and Rehabilitation Medicine, 2012
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
Sensors
Detecting human motion and predicting human intentions by analyzing body signals are challenging ... more Detecting human motion and predicting human intentions by analyzing body signals are challenging but fundamental steps for the implementation of applications presenting human–robot interaction in different contexts, such as robotic rehabilitation in clinical environments, or collaborative robots in industrial fields. Machine learning techniques (MLT) can face the limit of small data amounts, typical of this kind of applications. This paper studies the illustrative case of the reaching movement in 10 healthy subjects and 21 post-stroke patients, comparing the performance of linear discriminant analysis (LDA) and random forest (RF) in: (i) predicting the subject’s intention of moving towards a specific direction among a set of possible choices, (ii) detecting if the subject is moving according to a healthy or pathological pattern, and in the case of discriminating the damage location (left or right hemisphere). Data were captured with wearable electromagnetic sensors, and a sub-sectio...