[robotics-worldwide] Post-doc proposal Title: Testing machine for Transtibial and Transfermoral prosthesis

ALfayad Samer.alfayad at lisv.uvsq.fr
Wed Oct 24 04:38:32 PDT 2012

Supervisor: Dr. Samer Alfayad, Pr. Dr. F.B. Ouezdou, contact :
samer.alfayad at lisv.uvsq.fr ; ouezdou at lisv.uvsq.fr
Laboratory : Laboratoire d’Ingénierie des Systèmes de Versailles (LISV)- EA
40-48 10-12 Avenue de l’Europe, 78140 Vélizy Application deadline: 12/1/2013
The mean research objectives	of Interactive Robotics Group	at UVSQ is to
address open issues in the field of Safety interaction, Cooperation between
active systems and passive systems, Redundancy and improvement of the energy
consumption of interactive robots.
Our team has been investigated since 2005 a new actuating technology named
"Integrated Electro-Hydraulic Actuator". The IEHA's principle is based on
the possibility of producing the hydraulic power independently for each
joint in the robotic systems.
A humanoid robot named HYDROïD based on IEHA technology is under
development. IEHA system was is covered with an international Patent
(WO2009118366). Three other internationals patents were achieved	on the
HYDROïD's mechanisms ( WO2009135694) ( WO2009144320) and ( WO2009147243).
Context: Although, many lower extremity prosthesis devices have been
realized during the last years, the development	of the «perfect» prosthesis
is still an open question. Transtibial and Transfermoral amputees need
sophisticated prosthesis to make them regaining walking normal movement.
Furthermore, we believe that, today, a suitable prosthesis must optimize the
used energy during the walk, and a comfortable connection with the living
part of the leg.
Subject: The objective of this work is to build a testing machine for
Transtibial and Transfermoral prosthesis. The needed machine must be able to
reproduce the same dynamic and kinematics conditions applied on the
prosthesis during the normal use.	Special attention have to be paid for the
instrumentation of the contact surface between machine and the tested
Analyzing transfered force via this surface, will help us optimizing the
prosthesis's connection to the living leg.
A simulator of the machine need to be built under dynamic simulation
software like ADAMS.	A low-level and high-level control have to be done to
ensure the functionality of the system.
The HYDROïD’s hip mechanism can play key role on the production of the
movements in this machine. Hydraulic actuation helping production of high
force, hence the possibility to test a variety of prosthesis with a variety
walk speed and profile.
The scientific results of this work will be, the definition of the
theoretical and the technical criteria needed to build optimal Transfermoral
and Transtibial prosthesis.
Candidates profile:
Candidates, PhD graduated, should justify full knowledge in theoretical
developments and in experimental techniques for mechatronic systems design.
Experiences in the fields of hydraulic systems, dynamic simulations and
control well be greatly appreciated for this application. According to
project's context, the candidate is expected to contribute to the management
of the project, co-supervise thesis works and attend the meetings with
partners. The ability to work autonomously, creativity, and team spirit are
Proposal: Post doc contract Salary range: > 25,000 and < 35,000€ annual
gross. Duration: 12 months, renewable (From first 2013).

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