[robotics-worldwide] PhD position in Neuromuscular modeling

Mitsuhiro.Hayashibe at lirmm.fr Mitsuhiro.Hayashibe at lirmm.fr
Thu Mar 18 05:47:52 PDT 2010

PhD position in 
Neuromuscular modeling for joint torque - position - stiffness control 
using co-contraction strategies and biosignals feedback

  DEMAR project
  LIRMM-INRIA Sophia Antipolis
  Montpellier, France

Starting date:
  September 2010
DEMAR research interests are centered on the human sensory motor system, 
including muscles, sensory feedbacks, and neural motor networks.
The main scientific axes of DEMAR are then:
- Modelling the sensory motor system, since designing efficient control 
schemes and performing realistic simulations need for modelling. The 
scientific approach is to develop multi scale models based on the 
physiological microscopic reality up to a macroscopic behavior of the 
main parts of the sensori motor system : muscles, natural sensors and 
neural structures.
- Controlling the sensory motor system through the FES technique. 
Advanced control strategy such as high order sliding modes, nonlinear 
model predictive control, high level hybrid approaches based on 
continuous control and event triggered commutation of strategies, 
movement trajectory generation, etc. are studied.
- Interfacing artificial and natural parts through neuroprosthetic 
The applicant will have to model the ankle joint includings Tibialis 
Anterior Soleus and Gastrocnemius muscles with the advnaced model we 
proposed. Then the applicant will be asked to:
- theoretically analyse the model (sensitivity of the parameters, force-
position-stiffness controllability depending on the context of use)
- propose adapted model to the problem
- propose control strategies
- propose experimental validations protocol on paraplegics / healthy 
Activites will be theoretical such as model design, control scheme 
analysis (stability, performance, commandability), but also software 
developments (Matlab-Scilab and middleware for modeling, Real time 
programming with stimulators and sensors acquisition). Experimentations 
will be performed with healthy and spinal cord injured patients. 
Complementary Information
A MSc degree is required in control Eng. or related topics. Software Eng.
, scientific computing, model parameter identification are extra needed 
Some experience with experimental validations (robots or FES) will be 
appreciated. Great ability to work within a team in close collaborations 
with other members in clinical partners.
Visit the website www.lirmm.fr/demar

Contacts :
David.Guiraud at lirmm.fr
Mitsuhiro.Hayashibe at inria.fr

Mitsuhiro Hayashibe
Research Scientist, INRIA Sophia Antipolis
Computational Medicine and Neurosciences, DEMAR project

Robotics Department, LIRMM CNRS-Univ. of Montpellier II
161, rue Ada, 34392 Montpellier CEDEX 05, France

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