Domains
Robotics, Mechatronics, Automation
Doctoral school
EEA Doctoral School of Lyon, INSA Lyon, University of Lyon
Period, duration
Oct. 2023 to Sept. 2026, 3 years
Desired profile
Master's degree or engineering degree in Robotics, Mechatronics, Mechanical Engineering with a specialization in automation or in a field related to the design, modeling, and development of medical systems. Proficiency in SolidWorks or Catia (or equivalent) is required, as well as skills in instrumentation. Modeling skills are desirable, and programming skills in MATLAB or Python are appreciated.
Funding
€2,044 gross per month (+ additional payment for teaching activities)
funded by the ANR HASPA project
Location
Annecy and Lyon.
This work will be carried out in two mechatronics laboratories. The design work will mainly be carried out at the SYMME laboratory (https://www.univ-smb.fr/symme/) located at the University of Savoie Mont Blanc in Annecy during the first year, while the control work will mainly be carried out at the Ampère laboratory (http://www.ampere-lab.fr/) at INSA Lyon. Finally, the measurement campaign will also be carried out in Lyon on the Movement & Disability platform at Henry Gabrielle Hospital, which is a partner in the project.
Subject
This subject falls within the field of medical robotics, more specifically haptic simulation for
learning medical procedures, and directly responds to the expectations of the French National Authority for Health:
"Never the first time on a patient."
Spasticity is a disorder of the central nervous system characterized by involuntary muscle contractions
resulting in stiffness of the limbs. This condition affects approximately
15 million people worldwide. Spasticity, in combination with other symptoms, is
likely to increase pain and significantly reduce the mobility of people with
neurological diseases [Brown, 1994]. To assess the severity of this symptom, the degree of
resistance to rapid movements is quantified using the Modified Ashworth Scale (MAS
),
which is the most widely used clinical tool [Bohannon, 1987].
The diagnosis is made by assigning a relevant MAS score during a limb mobilization maneuver.
Training is currently provided through mentoring directly on
injured patients. In addition to the ethical issues raised by this type of training, the degree of spasticity
may change during the diagnostic assessment session (thus altering the patient's MAS score)
,
which makes it even more difficult to pass on the necessary skills. At present, there are no
simulators available for training in this procedure.
To meet this need, the ANR-funded HASPA project aims to develop a
haptic simulator for lower limb learning, offering an innovative tool for
training and practice for practitioners.
Objective of the thesis:
The main objective of the thesis is to design and prototype a physical haptic simulator
that can simulate different cases of spasticity, thereby enabling young practitioners to train
without risk. As part of this PhD, the aim is therefore to design a lower limb with 3 degrees of
freedom, reproducing the ankle, knee, and hip. This prototype will need to incorporate sensors and
actuators in order to reproduce the spastic behavior of the muscles.
Scientific locks:
Establish specifications in collaboration with health experts.
Design and order a rigid haptic interface that replicates the lower limb.
Test the prototype to simulate different cases of spasticity.
Generalize the methods used with the aim of designing an upper limb simulator.
Original contributions expected:
Offer a high-performance haptic simulator with innovative actuation
Integrate educational exercises
Research program and proposed scientific approach:
Mechatronic design: following an analysis of practitioners' professional activities
carried out by some of the HASPA project partners, specifications will need to be drawn up
. This step consists of defining how to represent technologically (mechanical systems
,
actuators, sensors, etc.) the necessary or desired functionalities on the
simulator to enable relevant learning and record the movements performed.
Overall design work on the physical simulator of a lower limb will need to be
carried out. This will involve designing a host mechanical structure for the integration of actuators
and sensors, and organizing the manufacture of the outer shell representing a lower limb
using elastomer-type materials.
Control: two approaches are being considered for actuation. The first involves the use of pneumatic muscles to control the different segments of the lower limb. The advantage of pneumatic muscles lies in their low mass/power ratio and their anthropomorphic shape. They will need to be controlled in an antagonistic manner in order to control joint stiffness. The second approach involves designing a hybrid actuator that integrates both a magnetorheological brake (developed by one of the project partners) and a pneumatic or electric actuator to control the compliance of the system and take advantage of the benefits of each.
Experimental validation:
Finally, the last part of the PhD will be devoted to a measurement campaign to be carried out at the Hospices Civils de Lyon (HCL) in order to test the prototype in situ as a learning simulator. Tests will be carried out with expert and novice practitioners in order to record the movements performed by these two groups. The analysis of the data should make it possible to define criteria that will be linked to the learning curve of the movement and that will differentiate these two populations according to criteria that will be defined and that will be linked to the learning curve of the movement.
Thesis supervisor and co-supervisor
Luc Maréchal, professor and researcher, Polytech Annecy-Chambéry – SYMME
Richard Moreau, Ampère (http://www.ampere-lab.fr/) – INSA Lyon
Contact
luc.marechal
@univ-smb.fr
richard.moreau
@insa-lyon.fr
Application
The application file must be sent to supervisors by email, with "HASPA PhD Application" clearly stated in the subject line.
The application must contain the following documents:
• a detailed CV,
• a cover letter explaining the applicant's motivation for pursuing a PhD, addressing the proposed topic, and demonstrating the links between the applicant's profile and the themes of the thesis topic,
• transcripts (Bachelor's degree, Master's 1 and first semester of Master's 2 or engineering school)
• Letters of recommendation or, failing that, the names of people in the field of academic research who recommend the candidate.