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Authors: Otmani Rafaa and Pruski Alain

Affiliation: Lasc, University Paul Verlaine Metz - ISEA, France

Keyword(s): Inverse Kinematics, Gradient Descent, Accessibility, Physical disability

Abstract: This paper presents an algorithm for the accessibility assessment of object manipulation for a disabled person with or without wheelchair. It addresses the problem of accessibility to the object manipulation by a person with reduced mobility in an indoor environment. The main originality is based on a combination of the animation of an articulated structure in virtual reality by using the techniques of inverse kinematics. We propose a numerical approach based on an incremental iterative algorithm to determine the joint variables of the kinematic chain which minimize the distance between the end effector (the hand) and target point we want to reach.

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Paper citation in several formats:
Rafaa, O. and Alain, P. (2009). An Algorithm for the Accessibility Assessment of Object Manipulation for a Disabled Person with or without Wheelchair. In Proceedings of the International Workshop on Networked embedded and control system technologies: European and Russian R&D cooperation (ICINCO 2009) - Workshop NESTER; ISBN 978-989-674-004-7, SciTePress, pages 120-133. DOI: 10.5220/0002272201200133

@conference{workshop nester09,
author={Otmani Rafaa. and Pruski Alain.},
title={An Algorithm for the Accessibility Assessment of Object Manipulation for a Disabled Person with or without Wheelchair},
booktitle={Proceedings of the International Workshop on Networked embedded and control system technologies: European and Russian R&D cooperation (ICINCO 2009) - Workshop NESTER},
year={2009},
pages={120-133},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002272201200133},
isbn={978-989-674-004-7},
}

TY - CONF

JO - Proceedings of the International Workshop on Networked embedded and control system technologies: European and Russian R&D cooperation (ICINCO 2009) - Workshop NESTER
TI - An Algorithm for the Accessibility Assessment of Object Manipulation for a Disabled Person with or without Wheelchair
SN - 978-989-674-004-7
AU - Rafaa, O.
AU - Alain, P.
PY - 2009
SP - 120
EP - 133
DO - 10.5220/0002272201200133
PB - SciTePress

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