Architecture coopérative pour la commande d'un fauteuil roulant robotisé

摘要

The works described in this thesis relates to the software architecture developed for the VAHM robotized wheelchaire. It is aims at improving the mobility of people with disabilities by using techniques and methods coming from the field of mobile robotics. The optimization of the man-machine system is obtained by attaining a collaboration between the man operator and the machine. The architecture is based on the nature of processed data. It is composed of abstraction levels and distributed process controls. At each level man and machine can cooperate by providing help for action decision or information. Trials realised with the help of able people have allowed to evaluate communication and cooperation abilities of such an architecture