Motion cues of an electric wheelchair simulator in virtual reality
Team: Rainbow, IRISA/Inria Rennes – LGCGM (INSA Rennes)
Advisors: Ronan Le Breton, Sylvain Guégan, Marie Babel
Main contact: Ronan Le Breton, email@example.com – Sylvain Guégan, firstname.lastname@example.org – Marie Babel, email@example.com
Project site: team.inria.fr/rainbow
Application: Applications consist of a cover letter describing how your research experience is relevant to the position and a resume sent to firstname.lastname@example.org, email@example.com and firstname.lastname@example.org.
The ADAPT project, co-financed by the European Regional Development Fund as part of the INTERREG VA France (Channel) England program, began in January 2017 and will end in January 2021. The aim of the project is to design and to develop assistive devices for empowering disabled people through robotics. INSA Rennes, an engineering school, is involved in the ADAPT project through 3 research units: IRISA-IETR-LGCGM. IRISA (Rainbow team) is specialized in computer vision and robotics. IETR (VAADER team) works on the design of embedded systems for signal processing. LGCGM (ECSR team) carries out work in mechanical processes and systems.
As part of the ADAPT project and through past collaborations, in particular with the Pôle Saint Hélier , a rehabilitation center in Rennes, INSA teams have developed a smart powered wheelchair (PW) that compensates user disabilities by using driving assistance technologies. In parallel, for an immersive experience of the smart PW, a virtual reality (VR) driving simulator has been developed. This simulator includes immersive visual rendering capabilities (immersive room / VR headset), interfaces compatible with those of the PW and a haptic platform for replicating wheelchair motions.
The goal of the post-doctoral work is directly linked to the wheelchair simulator, and will be in particular dedicated to motion cues. The idea is to combine software development for Virtual Reality (based on Robot Operating System, Unity 3D,…) add a 4 degrees of freedom motion platform (1 translation and 3 rotations).
Within the project team working on the simulator, the researcher will have to propose solutions to increase the Sense of Presence felt by the user, and to prevent from cybersickness for different indoor/outdoor scenarios:
- Design of a new physics engine to replicate motion dynamics of a powered wheelchair, such as collisions, bumps, floor irregularities, caster wheel kinematics…
- Design of motion cues and haptics:
- the 4 degrees of freedom should be properly used to match motion cues;
- the behavior of the platform should be finely tuned and adapted to each user with disabilities.
Skill / Requirements
The applicant should have a strong interest in working in a multidisciplinary team, including the medical staff of the rehabilitation center of Pôle Saint Hélier. Ideally, she/he has an experience in VR and/or robotics domains:
- Simulation and/or motion platform control;
- C/C++ coding;
- Familiarity with ROS;
- Familiarity with system dynamics and mechanics is considered as an asset.
The position is full-time for 1 year. Salary : around 2200€/month (net salary)
Localisation : IRISA / INSA de Rennes – Campus de Beaulieu – Rainbow team
Keywords: Power wheelchair simulator, Virtual Reality, Physics engine, motion cues, haptics, user tests
 S. Massengale, D. Folden, P. McConnell, L. Stratton, V. Whitehead, and V. Whitehead, “Effect of visual perception, visual function, cognition, and personality on power wheelchair use in adults,” Assistive Technology, vol. 17, no. 2, pp. 108–121, 2005.
 L. Devigne, M. Babel, F. Nouviale, V. K. Narayanan, F. Pasteau,and P. Gallien, “Design of an immersive simulator for assisted powerwheelchair driving,” IEEE International Conferenceon Rehabilitation Robotics, pp. 995–1000, 2017.
 J. Dascal, M. Reid, W. W. Ishak, B. Spiegel, J. Recacho, and B. Rosen, “Virtual Reality and Medical Inpatients: A Systematic Review of Randomized, Controlled Trials,” vol. 14, no. 1, pp. 14–21, 2017.
 T. Ogourtsova, P. Archambault, S. Sangani, and A. Lamontagne, “Ecological Virtual Reality Evaluation of Neglect Symptoms (EVENS): Effects of Virtual Scene Complexity in the Assessment of Post-stroke Unilateral Spatial Neglect,”Neurorehabilitation and Neural Repair, vol. 32, no. 1, pp. 46–61, 2018.
 M. C. Howard, “A meta-analysis and systematic literature review of virtual reality rehabilitation programs,” Computers in Human Behavior, vol. 70, pp. 317–327, 2017.
 J. J. LaViola, “A Discussion of Cybersickness in Virtual Environ-ments,” Group practice, vol. 29, no. 5, pp. 23–26, 2000.
 S. Arlati, V. Colombo, G. Ferrigno, R. Sacchetti, and M. Sacco, “Virtual reality-based wheelchair simulators: A scoping review,” Assistive Technology, pp. 1–12, 2019.
 P. S. Archambault, ́E. Blackburn, D. Reid, F. Routhier, W. C. Miller,P. S. Archambault, ́E. Blackburn, D. Reid, and F. Routhier, “Development and user validation of driving tasks for a power wheelchair simulator,”Disability and Rehabilitation, 2016.
 Y. Morere, G. Bourhis, K. Cosnuau, G. Guilmois, E. Blangy, andE. Rumilly, “ViEW, a wheelchair simulator for driving analysis,” International Conference on Virtual Rehabilitation,ICVR, vol. 0, no. 0,pp. 100–105, 2018.
 F. Pouvrasseau, ́E. Monacelli, V.-v. France, F. Goncalves, P.-a. Leyrat,B. Malafosse, and A. Schmid, “Discussion about functionalities of the simulator Virtual Fauteuil for wheelchair training environment,” International Conference on Virtual Rehabilitation (ICVR), pp. 7, 2017.
 E. L. Groen and W. Bles, “How to use body tilt for the simulation of linear self motion.,”Journal of vestibular research: equilibrium & orientation, vol. 14, no. 5, pp. 375–85, 2004.
 H. Niniss, “Electric wheelchair simulator for rehabilitation of persons with motor disability,” no. August, 2014.
 A. Lécuyer, M. Vidal, O. Joly, C. Mégard, and A. Berthoz, “Can haptic feedback improve the perception of self-motion in virtual reality?, ”Proc. 12th Int. Symp. On Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 208–215, 2004