Hafid Niniss

Contribution to the assessment of the controls of powered wheelchairs evolving in constrained environments using virtual reality

重度障害者の自立移動実現に向けた技術開発:―ひとりひとりの"できる"を大事にする技術開発―

Application of 3D VR Cloud in Robotics -- Example of Robot Control With the 3D VR Software UC-win/Road

IEICE Technical Report; IEICE Tech. Rep., Jun 9, 2014

重度障害者の自立移動実現に向けた技術開発:―ひとりひとりの"できる"を大事にする技術開発―

ロボット分野における3DVR・グラウドシステムの利用 : 3DVRソフトUC-win/Roadのロボット連携事例 (クラウドネットワークロボット)

IEICE technical report. Speech, Jun 16, 2014

Architecture of driving simulators

Driving Simulators for the Evaluation of Human-Machine Interfaces in Assisted and Automated Vehicles, 2021

Kinect Interface for UC-win / Road : Application to Tele-operation of Small Robots

Abstract: The purpose of this work is to develop a man-machine interface for the UC-win/Road VR s... more Abstract: The purpose of this work is to develop a man-machine interface for the UC-win/Road VR software to improve the interaction between the real and virtual worlds. The Kinect plugin interface presented in this paper is based on 3D depth sensor integrating IR technology. The development started with the Kinect sensor, a device initially released by Microsoft as an input controller for its Xbox video game console, then moved to the Xtion Pro, a smaller similar sensor. This paper presents the Kinect Plugin as well as two applications oriented towards Robotics, to demonstrate the Kinect Plugin capabilities.

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ロボット分野における3DVR・クラウドシステムの利用～ 3DVRソフトUC-win/Roadのロボット連携事例～

Système de simulation pour fauteuil roulant électrique : premiers résultats

Cet article presente un projet de systeme de simulation concernant les fauteuils roulants electri... more Cet article presente un projet de systeme de simulation concernant les fauteuils roulants electriques. Ce projet comporte une plate-forme de simulation utilisant la realite virtuelle, sur laquelle vient se positionner un fauteuil. L'objectif du projet est triple: - aider a la conception de nouvelles fonctionnalites d'aide a la mobilite, - aider au choix et a la prescription de fauteuils electriques, - faciliter l'apprentissage de la conduite de fauteuils electriques. Outre la description du projet, nous presentons aussi les premiers resultats obtenus par l'utilisation de la realite virtuelle en simulation pour l'evaluation d'un algorithme de planification de chemin.

Assessment of driving skills using Virtual Reality: Comparative survey on experts and unskilled users of electric wheelchairs

Technology and Disability, 2006

... Address for correspondence: Hafid Niniss, National Rehabilita-tion Center for Persons with Di... more

Development of orphan products for independent mobility of persons with severe disability

Journal of Life Support Engineering, 2005

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Contribution à l'évaluation de la commande des fauteuils électriques en environnement contraint à l'aide de la réalité virtuelle

Http Www Theses Fr, 2003

Ce travail concerne la realisation d'un systeme de simulation pour fauteuils roulants, dans l... more Ce travail concerne la realisation d'un systeme de simulation pour fauteuils roulants, dans le but d'evaluer les aptitudes d'une personne a piloter un fauteuil electrique. Le choix de la Realite Virtuelle se justifie principalement par la securite des tests (collisions avec l'environnement). De plus, la simulation donne acces a un monde ou tout est mesurable, et ceci sans capteur supplementaire (posture du fauteuil, actions sur les organes de commande. . . ). Cette multitude de mesures virtuelles sert a mettre en evidence et quantifier l'aptitude qu'a l'utilisateur a piloter un type de fauteuil donne. Ce memoire debute par un Etat de l'Art sur les simulateurs generaux ainsi que ceux dedies aux fauteuils roulants. Le deuxieme chapitre est dedie a l'elaboration d'un modele de simulation utilise pour naviguer dans une scene virtuelle. Dans cette partie, nous etudions la cinematique et la dynamique d'un fauteuil electrique utilise pour nos tests. Pour completer cette etude, nous modelisons son systeme de perception. Le troisieme chapitre quant a lui presente la conception, la realisation et l'evaluation du systeme de simulation concu. Il debute par la presentation du simulateur (partie logicielle du systeme de simulation) et de la plateforme de simulation (partie materielle), puis se poursuit par l'evaluation du systeme, en mettant en evidence ses possibilites et ses limites. Le quatrieme et dernier chapitre est consacre a l'evaluation d'un utilisateur de fauteuil electrique. Apres avoir propose et discute des criteres d'evaluation, nous presentons le protocole experimental, ainsi que les premiers resultats obtenus. Une discussion de ces resultats vient clore ce chapitre. Finalement nous concluons sur le travail realise et les perspectives envisagees a court et moyen terme.

Using Virtual Reality to Build Assistive Tools in Handicap Field

ifrath.univ-metz.fr

Page 1. Using Virtual Reality to Build Assistive Tools in Handicap Field Hafid Niniss, Olivier Ha... more

Simulation of the behaviour of a powered wheelchair using virtual reality

… Conference on Disability, Virtual Reality and …, 2000

This paper describes the firsts results of a project of simulator for powered wheelchair, using V... more This paper describes the firsts results of a project of simulator for powered wheelchair, using Virtual Reality. We have simulated the kinematics of an existing intelligent wheelchair, which was designed in order to facilitate the driving of a powered wheelchair. We also present the integration of modeled ultrasonic sensors in the simulation.

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Electric wheelchair simulator for rehabilitation of persons with motor disability

Symposium on Virtual Reality VIII (Proceedings) …, 2006

Electric Wheelchair Simulator for Rehabilitation of Persons with Motor Disability Hafid NINISS, T... more

Voluntary motion support control of Robot Suit HAL triggered by bioelectrical signal for hemiplegia

Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2010

Our goal is to enhance the quality of life of patients with hemiplegia by means of an active moti... more Our goal is to enhance the quality of life of patients with hemiplegia by means of an active motion support system that assists the impaired motion such as to make it as close as possible to the motion of an able bodied person. We have developed the Robot Suit HAL (Hybrid Assistive Limb) to actively support and enhance the human motor functions. The purpose of the research presented in this paper is to propose the required control method to support voluntarily motion using a trigger based on patient's bioelectrical signal. Clinical trials were conducted in order to investigate the effectiveness of the proposed control method. The first stage of the trials, described in this paper, involved the participation of one hemiplegic patient who is not able to bend his right knee. As a result, the motion support provided by the HAL moved the paralyzed knee joint according to his intention and improved the range of the subject's knee flexion. The first evaluation of the control method...

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