Artem A. MELNYK was born in Donetsk, Ukraine. He received the Specialist Diploma from the Donetsk National Technical University in 2003. He obtained the Ph.D. degree from the Université de Cergy-Pontoise, France in 2014.His previous research was focused on human-robot physical interaction and its quantitative analysis. The actual research project focused on the rehabilitation robotics, virtual and immersive reality for rehabilitation. Supervisors: Patrick Henaff Address: Nancy
Les robots integres aux chaines de production sont generalement isoles des ouvriers et ne prevoie... more Les robots integres aux chaines de production sont generalement isoles des ouvriers et ne prevoient pas d'interaction physique avec les humains. Dans le futur, le robot humanoide deviendra un partenaire pour vivre ou travailler avec les etres humains. Cette coexistence prevoit l'interaction physique et sociale entre le robot et l'etre humain. En robotique humanoide les futurs progres dependront donc des connaissances dans les mecanismes cognitifs presents dans les interactions interpersonnelles afin que les robots interagissent avec les humains physiquement et socialement. Un bon exemple d'interaction interpersonnelle est l'acte de la poignee de la main qui possede un role social tres important. La particularite de cette interaction est aussi qu'elle est basee sur un couplage physique et social qui induit une synchronisation des mouvements et des efforts. L'interet d'etudier la poignee de main pour les robots consiste donc a elargir leurs proprietes c...
In this paper, we describe ongoing research conducted in our Laboratory concerning activity analy... more In this paper, we describe ongoing research conducted in our Laboratory concerning activity analysis of elderly or frail people with non-intrusive sensors. Activity is evaluated regarding autonomous mobility inferred from indoor tracking of many people. Non-intrusive photoelectric beam barrier sensors have been installed in our lab, in a nursing home and a medical care and research unit for respectively more than one year and 6 months. Incremental design, sensor fusion, data processing and acceptance concerns are discussed in the paper.
One very popular form of interpersonal interaction used in various situations is the handshake (H... more One very popular form of interpersonal interaction used in various situations is the handshake (HS), which is an act that is both physical and social. This article aims to demonstrate that the paradigm of synchrony that refers to the psychology of individuals’ temporal movement coordination could also be considered in handshaking. For this purpose, the physical features of the human HS are investigated in two different social situations: greeting and consolation. The duration and frequency of the HS and the force of the grip have been measured and compared using a prototype of a wearable system equipped with several sensors. The results show that an HS can be decomposed into four phases, and after a short physical contact, a synchrony emerges between the two persons who are shaking hands. A statistical analysis conducted on 31 persons showed that, in the two different contexts, there is a significant difference in the duration of HS, but the frequency of motion and time needed to synchronize were not impacted by the context of an interaction.
2016 IEEE 36th International Conference on Electronics and Nanotechnology (ELNANO), 2016
The future coexistence of humanoid robots and human being presuppose knowledge of cognitive mecha... more The future coexistence of humanoid robots and human being presuppose knowledge of cognitive mechanisms involved in interpersonal human physical and social interactions. The act of a handshake is an example of a physical interpersonal interaction that plays an important social role because it is based on physical and social couplings that lead to synchronization of motion. Studying handshake for robotics is interesting as it can expand the behavioral properties of robots for interaction with a human being in a more natural way. Previous experiments have shown that the phase of physical contact which contains hands tightening initiates a phenomenon of mutual synchrony. Considering the biological rhythmic nature of handshake phenomenon, a robot controller inspired by rhythmic structures of the human motor nervous system is proposed in this paper. The model is based on coupled rhythmic neurons, constituting a central pattern generator with learning mechanisms for the frequency of the movement perceived during the interaction. Experiments with a robot arm show that it is possible for the robot to learn to synchronize its rhythm with the human rhythms imposed during the handshake.
We present a neural architecture capable to control syn-ergistically a flexible robotic model of ... more We present a neural architecture capable to control syn-ergistically a flexible robotic model of the human vertebral column toward balance and upward posture. The neural controller is composed of non-linear oscillators that control each vertebre of the column constructed on the principle of tensegrity. They play the role of the central pattern generators in the spinal cords to generate rhythmical patterns and to be entrained to the resonant modes of the tensegrity system. After exploration of the different coordination regimes for different coupling parameters, the top-down controller is able to dynamically select, amplify or inhibit each motor synergy for upward postural balance even with respect to external perturbations. 2 Introduction Animal's musculo-skeletal system is based on a complex network of muscles, bones, nerves, tissues and soft-bodies, which are hard to replicate accurately in robots and to control. The animal's biomechanics are however well-ordered so that t...
... Vol. 46, No.1. – 2009. – P. 59-73. 3. B. Hamed. Application of a LabVIEW for Real-Time Contro... more ... Vol. 46, No.1. – 2009. – P. 59-73. 3. B. Hamed. Application of a LabVIEW for Real-Time Control of Ball and Beam System // IACSIT International Journal of Engineering and Technology. – Vol.2, No.4. – 2010. – P. 401-407. ... Vol. 1. – P. 306 – 310. 7. NB Almutairi, M. Zribi. ...
This paper proposes a low-cost system, based on the method of Electrical
Impedance Tomography (EI... more This paper proposes a low-cost system, based on the method of Electrical Impedance Tomography (EIT), for data acquisition from soft conductive fabric, for the purposes of designing of robots artificial skin. A simple multiplexer/demultiplexer circuit is used for retrieving the resistance field from the pair-wised electrodes which inject the electrical current and the electrodes which measure the output voltage from the conductive fabric. A microcontroller governs the injection of current, voltage output patterns and the ...
Les robots integres aux chaines de production sont generalement isoles des ouvriers et ne prevoie... more Les robots integres aux chaines de production sont generalement isoles des ouvriers et ne prevoient pas d'interaction physique avec les humains. Dans le futur, le robot humanoide deviendra un partenaire pour vivre ou travailler avec les etres humains. Cette coexistence prevoit l'interaction physique et sociale entre le robot et l'etre humain. En robotique humanoide les futurs progres dependront donc des connaissances dans les mecanismes cognitifs presents dans les interactions interpersonnelles afin que les robots interagissent avec les humains physiquement et socialement. Un bon exemple d'interaction interpersonnelle est l'acte de la poignee de la main qui possede un role social tres important. La particularite de cette interaction est aussi qu'elle est basee sur un couplage physique et social qui induit une synchronisation des mouvements et des efforts. L'interet d'etudier la poignee de main pour les robots consiste donc a elargir leurs proprietes c...
In this paper, we describe ongoing research conducted in our Laboratory concerning activity analy... more In this paper, we describe ongoing research conducted in our Laboratory concerning activity analysis of elderly or frail people with non-intrusive sensors. Activity is evaluated regarding autonomous mobility inferred from indoor tracking of many people. Non-intrusive photoelectric beam barrier sensors have been installed in our lab, in a nursing home and a medical care and research unit for respectively more than one year and 6 months. Incremental design, sensor fusion, data processing and acceptance concerns are discussed in the paper.
One very popular form of interpersonal interaction used in various situations is the handshake (H... more One very popular form of interpersonal interaction used in various situations is the handshake (HS), which is an act that is both physical and social. This article aims to demonstrate that the paradigm of synchrony that refers to the psychology of individuals’ temporal movement coordination could also be considered in handshaking. For this purpose, the physical features of the human HS are investigated in two different social situations: greeting and consolation. The duration and frequency of the HS and the force of the grip have been measured and compared using a prototype of a wearable system equipped with several sensors. The results show that an HS can be decomposed into four phases, and after a short physical contact, a synchrony emerges between the two persons who are shaking hands. A statistical analysis conducted on 31 persons showed that, in the two different contexts, there is a significant difference in the duration of HS, but the frequency of motion and time needed to synchronize were not impacted by the context of an interaction.
2016 IEEE 36th International Conference on Electronics and Nanotechnology (ELNANO), 2016
The future coexistence of humanoid robots and human being presuppose knowledge of cognitive mecha... more The future coexistence of humanoid robots and human being presuppose knowledge of cognitive mechanisms involved in interpersonal human physical and social interactions. The act of a handshake is an example of a physical interpersonal interaction that plays an important social role because it is based on physical and social couplings that lead to synchronization of motion. Studying handshake for robotics is interesting as it can expand the behavioral properties of robots for interaction with a human being in a more natural way. Previous experiments have shown that the phase of physical contact which contains hands tightening initiates a phenomenon of mutual synchrony. Considering the biological rhythmic nature of handshake phenomenon, a robot controller inspired by rhythmic structures of the human motor nervous system is proposed in this paper. The model is based on coupled rhythmic neurons, constituting a central pattern generator with learning mechanisms for the frequency of the movement perceived during the interaction. Experiments with a robot arm show that it is possible for the robot to learn to synchronize its rhythm with the human rhythms imposed during the handshake.
We present a neural architecture capable to control syn-ergistically a flexible robotic model of ... more We present a neural architecture capable to control syn-ergistically a flexible robotic model of the human vertebral column toward balance and upward posture. The neural controller is composed of non-linear oscillators that control each vertebre of the column constructed on the principle of tensegrity. They play the role of the central pattern generators in the spinal cords to generate rhythmical patterns and to be entrained to the resonant modes of the tensegrity system. After exploration of the different coordination regimes for different coupling parameters, the top-down controller is able to dynamically select, amplify or inhibit each motor synergy for upward postural balance even with respect to external perturbations. 2 Introduction Animal's musculo-skeletal system is based on a complex network of muscles, bones, nerves, tissues and soft-bodies, which are hard to replicate accurately in robots and to control. The animal's biomechanics are however well-ordered so that t...
... Vol. 46, No.1. – 2009. – P. 59-73. 3. B. Hamed. Application of a LabVIEW for Real-Time Contro... more ... Vol. 46, No.1. – 2009. – P. 59-73. 3. B. Hamed. Application of a LabVIEW for Real-Time Control of Ball and Beam System // IACSIT International Journal of Engineering and Technology. – Vol.2, No.4. – 2010. – P. 401-407. ... Vol. 1. – P. 306 – 310. 7. NB Almutairi, M. Zribi. ...
This paper proposes a low-cost system, based on the method of Electrical
Impedance Tomography (EI... more This paper proposes a low-cost system, based on the method of Electrical Impedance Tomography (EIT), for data acquisition from soft conductive fabric, for the purposes of designing of robots artificial skin. A simple multiplexer/demultiplexer circuit is used for retrieving the resistance field from the pair-wised electrodes which inject the electrical current and the electrodes which measure the output voltage from the conductive fabric. A microcontroller governs the injection of current, voltage output patterns and the ...
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Papers by Artem Melnyk
Impedance Tomography (EIT), for data acquisition from soft conductive fabric, for the
purposes of designing of robots artificial skin. A simple multiplexer/demultiplexer circuit is
used for retrieving the resistance field from the pair-wised electrodes which inject the
electrical current and the electrodes which measure the output voltage from the conductive
fabric. A microcontroller governs the injection of current, voltage output patterns and the ...
Impedance Tomography (EIT), for data acquisition from soft conductive fabric, for the
purposes of designing of robots artificial skin. A simple multiplexer/demultiplexer circuit is
used for retrieving the resistance field from the pair-wised electrodes which inject the
electrical current and the electrodes which measure the output voltage from the conductive
fabric. A microcontroller governs the injection of current, voltage output patterns and the ...