[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
Location:
DEMAR project
LIRMM-INRIA Sophia Antipolis
Montpellier, France
Starting date:
September 2010
Environnement
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
devices.
Missions
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
subjects
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
knowledge.
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
http://www.inria.fr/recherche/equipes/demar.en.html
Robotics Department, LIRMM CNRS-Univ. of Montpellier II
161, rue Ada, 34392 Montpellier CEDEX 05, France
http://www.lirmm.fr/~hayashibe
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