Manipulation assisting system in unstructured environment for disabled persons

The use of robotic devices improves greatly heavily disabled persons autonomy in terms of every day life objects manipulation. Our purpose is, first to enhance the performances of the robotic devices (telemanipulator+orthosis) and second to allow these users to accomplish completely a manipulation task with a manipulator mounted on an electric wheelchair in bad conditions (low accessibility, presence of obstacles, unstructured environment). For that we use pre-computed local tasks of sliding and tumbling operations incorporated in a dynamic control architecture