PhD thesis title: Priority-aware shared control of a bidirectional neuroprosthesis: development of design and evaluation methodologies
Abstract: Shared control of prostheses via brain-machine interfaces is a topical research issue in the field of medical robotics. In the framework of the ANR collaborative research project HERMIN (Haptic Exploration and Reflex Motor control In a Neuroprosthesis), this PhD aims to develop and explore adaptive shared control strategies in a neuropsothesis with direct sensory feedback from the prosthesis to the cerebral cortex. The designed shared control algorithm is expected to supervise the combination of user voluntary control using neuronal activity readout, and autonomous motor routines such as safety procedures and haptic exploration for active sensing and obstacle avoidance. This priority-aware control strategy is intended to respect high-level objectives of safety, comfort and performance.
Duration: december 2024 – november 2027
Funding: ANR
Supervising team:
- Supervisor: Maria Makarov (L2S)
- Co-supervisors: Luc Estebanez (NeuroPSI), Antoine Chaillet (L2S)
