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mso-para-margin:0cm; mso-para-margin-bottom:.0001pt; mso-pagination:widow-orphan; font-size:10.0pt; font-family:"Times New Roman";} </style> <![endif]--><!--[if gte mso 9]><xml> <o:shapedefaults v:ext="edit" spidmax="1042"/> </xml><![endif]--><!--[if gte mso 9]><xml> <o:shapelayout v:ext="edit"> <o:idmap v:ext="edit" data="1"/> </o:shapelayout></xml><![endif]--> </head> <body bgcolor=white lang=EN-US link=blue vlink=blue style='tab-interval:35.4pt'> <div class=WordSection1> <p align=center style='text-align:center'><span style='font-size:13.5pt; font-family:Verdana;color:#000066'>Direction des Relations <span class=SpellE>Internationales</span> (DRI)</span><o:p></o:p></p> <h1 align=center style='text-align:center'><span class=SpellE><strong><span style='font-family:Verdana;mso-fareast-font-family:"Times New Roman"; mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi; color:#000066'>Programme</span></strong></span><strong><span style='font-family: Verdana;mso-fareast-font-family:"Times New Roman";mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;color:#000066'> INRIA &quot;<span class=SpellE>Equipes</span> <span class=SpellE>Associées</span>&quot; </span></strong><span style='font-family:Verdana;mso-fareast-font-family:"Times New Roman"; color:#000066'><br> </span><strong><span style='font-family:Verdana;mso-fareast-font-family:"Times New Roman"; mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi; color:#666666'>/</span></strong><strong><span style='font-family:Verdana; mso-fareast-font-family:"Times New Roman";mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;color:#000066'> </span></strong><strong><span style='font-family:Verdana;mso-fareast-font-family:"Times New Roman"; mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi; color:#666666'>INRIA &quot;Associate Teams&quot; <span class=SpellE>Programme</span> </span></strong><span style='mso-fareast-font-family:"Times New Roman"'><o:p></o:p></span></h1> <p>&nbsp;</p> <h2><span style='font-family:Verdana;mso-fareast-font-family:"Times New Roman"; color:#000066'>I. DEFINITION</span><span style='mso-fareast-font-family:"Times New Roman"'><o:p></o:p></span></h2> <div align=center> <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 width="70%" style='width:70.0%;mso-cellspacing:0cm;mso-yfti-tbllook:1184;mso-padding-alt: 0cm 5.4pt 0cm 5.4pt'> <tr style='mso-yfti-irow:0;mso-yfti-firstrow:yes'> <td width="43%" style='width:43.0%;padding:.75pt .75pt .75pt .75pt'> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt; font-family:Verdana'>EQUIPE ASSOCIEE <br> <span style='color:#666666'>/ ASSOCIATE TEAM</span> </span></b></p> </td> <td width="57%" style='width:57.0%;padding:.75pt .75pt .75pt .75pt'> <p><em><span style='font-family:Verdana'>&nbsp;</span></em><em><b><span style='font-size:13.5pt;mso-bidi-font-size:10.0pt;font-family:Verdana'>@WALK </span></b></em><em><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Verdana'>(<span class=SpellE>ArTificial</span> <span class=SpellE>WALKing</span>)</span></em><em><span style='font-family:Verdana;color:#666666'> </span></em></p> </td> </tr> <tr style='mso-yfti-irow:1;mso-yfti-lastrow:yes'> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal align=right style='text-align:right'><span class=SpellE><span class=GramE><span style='font-family:Verdana'>sélection</span></span></span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal><strong><span style='font-family:Verdana;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi'>2011</span></strong></p> </td> </tr> </table> </div> <p align=center style='text-align:center'>&nbsp;</p> <div align=center> <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 width="100%" style='width:100.0%;mso-cellspacing:0cm;border:outset #CCCCCC 1.0pt; mso-yfti-tbllook:1184;mso-padding-alt:0cm 5.4pt 0cm 5.4pt'> <tr style='mso-yfti-irow:0;mso-yfti-firstrow:yes'> <td width="44%" style='width:44.0%;border:inset #CCCCCC 1.0pt;background: #99CC99;padding:1.0pt 1.0pt 1.0pt 1.0pt'> <p class=MsoNormal><span class=SpellE><span style='font-family:Verdana'>Equipe-Projet</span></span><span style='font-family:Verdana'> <span class=GramE>INRIA :</span> DEMAR</span></p> </td> <td width="56%" style='width:56.0%;border:inset #CCCCCC 1.0pt;background: #99CC99;padding:1.0pt 1.0pt 1.0pt 1.0pt'> <p class=MsoNormal><span style='font-family:Verdana;color:#333333'>Partner Institution</span><span style='font-family:Verdana'>: Stanford University</span></p> </td> </tr> <tr style='mso-yfti-irow:1;mso-yfti-lastrow:yes;height:22.0pt'> <td style='border:inset #CCCCCC 1.0pt;background:#99CCCC;padding:1.0pt 1.0pt 1.0pt 1.0pt; height:22.0pt'> <p class=MsoNormal><span style='font-family:Verdana'>Centre de <span class=SpellE>recherche</span> <span class=GramE>INRIA :Sophia</span> <span class=SpellE>Antipolis-Méditerannée</span><br> <span class=SpellE>Thème</span> INRIA : BIO</span></p> </td> <td style='border:inset #CCCCCC 1.0pt;background:#99CCCC;padding:1.0pt 1.0pt 1.0pt 1.0pt; height:22.0pt'> <p class=MsoNormal><span style='font-family:Verdana'>Pays <span style='color:#333333'>/ Country</span>: USA</span></p> </td> </tr> </table> </div> <p class=MsoNormal align=center style='text-align:center'><span style='font-family:Verdana'>_ </span></p> <div align=center> <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 width="100%" style='width:100.0%;mso-cellspacing:0cm;border:outset #CCCCCC 1.0pt; mso-yfti-tbllook:1184;mso-padding-alt:0cm 5.4pt 0cm 5.4pt'> <tr style='mso-yfti-irow:0;mso-yfti-firstrow:yes'> <td style='border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal>&nbsp;</p> </td> <td width="25%" style='width:25.2%;border:inset #CCCCCC 1.0pt;background: #99CC99;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal align=center style='text-align:center'><span style='font-family:Verdana;color:#663333'>French Coordinator</span> </p> </td> <td width="26%" style='width:26.1%;border:inset #CCCCCC 1.0pt;background: #99CC99;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal align=center style='text-align:center'><span style='font-family:Verdana;color:#663333'>Partner Coordinator </span></p> </td> </tr> <tr style='mso-yfti-irow:1'> <td style='border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Verdana;color:#666666'>First name, Given name </span></p> </td> <td width="25%" style='width:25.2%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;Philippe FRAISSE<o:p></o:p></span></p> </td> <td width="26%" style='width:26.1%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;<span class=SpellE>Oussama</span> KHATIB<o:p></o:p></span></p> </td> </tr> <tr style='mso-yfti-irow:2'> <td style='border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Verdana'>Grade, <span class=SpellE>statut</span> <span style='color:#666666'>/ Position</span></span></p> </td> <td width="25%" style='width:25.2%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;Professor<o:p></o:p></span></p> </td> <td width="26%" style='width:26.1%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;Professor<o:p></o:p></span></p> </td> </tr> <tr style='mso-yfti-irow:3'> <td style='border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span class=SpellE><span style='font-family:Verdana'>Organisme</span></span><span style='font-family:Verdana'> <span class=SpellE>d'appartenance</span> <span style='color:#666666'>/ Home Institution </span><br> </span><em><span style='font-size:7.5pt;font-family:Verdana;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi'>(<span class=SpellE>pr_cisez</span> le <span class=SpellE>d_partement</span> et/<span class=SpellE>ou</span> le <span class=SpellE>laboratoire</span>)</span></em></p> </td> <td width="25%" style='width:25.2%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;<span class=SpellE>Université</span> Montpellier 2 / LIRMM<o:p></o:p></span></p> </td> <td width="26%" style='width:26.1%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;AI Lab, Stanford University<o:p></o:p></span></p> </td> </tr> <tr style='mso-yfti-irow:4'> <td style='border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span class=SpellE><span style='font-family:Verdana'>Adresse</span></span><span style='font-family:Verdana'> <span class=SpellE>postale</span> <span style='color:#666666'>/ Postal address</span></span> </p> </td> <td width="25%" style='width:25.2%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;161 rue ADA<o:p></o:p></span></p> </td> <td width="26%" style='width:26.1%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;Gates 144<o:p></o:p></span></p> </td> </tr> <tr style='mso-yfti-irow:5'> <td style='border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Verdana'>URL <span style='color:#666666'>/ Website</span></span> </p> </td> <td width="25%" style='width:25.2%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;http://www.lirmm.fr/~fraisse/<o:p></o:p></span></p> </td> <td width="26%" style='width:26.1%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;http://robotics.stanford.edu/~ok/<o:p></o:p></span></p> </td> </tr> <tr style='mso-yfti-irow:6'> <td style='border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Verdana;color:#666666'>Telephone</span> </p> </td> <td width="25%" style='width:25.2%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;+33467418556<o:p></o:p></span></p> </td> <td width="26%" style='width:26.1%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;+1 </span><span lang=FR style='font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi;mso-ansi-language:FR'>(650) 723-9753</span><span style='font-family: Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi'><o:p></o:p></span></p> </td> </tr> <tr style='mso-yfti-irow:7'> <td style='border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Verdana;color:#666666'>Fax</span> </p> </td> <td width="25%" style='width:25.2%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;&nbsp;+33467418500<o:p></o:p></span></p> </td> <td width="26%" style='width:26.1%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;+1 </span><span lang=FR style='font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi;mso-ansi-language:FR'>(650) 725-1449</span><span style='font-family: Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi'><o:p></o:p></span></p> </td> </tr> <tr style='mso-yfti-irow:8;mso-yfti-lastrow:yes'> <td style='border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Verdana;color:#666666'>Email</span> </p> </td> <td width="25%" style='width:25.2%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;fraisse@lirmm.fr<o:p></o:p></span></p> </td> <td width="26%" style='width:26.1%;border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm'> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>&nbsp;ok@cs.stanford.edu<o:p></o:p></span></p> </td> </tr> </table> </div> <div> <p align=center style='text-align:center'><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt;font-family:Verdana;color:black'><br> La proposition en <span class=SpellE>bref</span></span></b> <strong><span style='font-size:13.5pt;font-family:Verdana;color:#666666'>/ The proposal in brief</span></strong><span style='font-size:13.5pt;font-family:Verdana; color:#666666'> </span></p> </div> <div align=center> <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 width="100%" style='width:100.28%;mso-cellspacing:0cm;border:outset #CCCCCC 1.0pt; mso-yfti-tbllook:1184;mso-padding-alt:0cm 5.4pt 0cm 5.4pt'> <tr style='mso-yfti-irow:0;mso-yfti-firstrow:yes;height:41.05pt'> <td style='border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm;height:41.05pt'> <p><span class=SpellE><span style='font-size:12.0pt;font-family:Verdana'>Titre</span></span><span style='font-size:12.0pt;font-family:Verdana'> de la <span class=SpellE>thématique</span> de collaboration </span><i style='mso-bidi-font-style:normal'><span style='font-family:Verdana'>(en <span class=SpellE>français</span> et en <span class=SpellE>anglais</span>)</span></i><span style='font-size:12.0pt; font-family:Verdana'> <span style='color:#666666'>/ Title of the collaboration theme <em><span style='font-family:Verdana'>(in French and in English<span class=GramE>) <span style='font-size:10.0pt;color:windowtext'>:</span></span></span></em></span></span><em><span style='font-family:Verdana'> </span></em></p> </td> </tr> <tr style='mso-yfti-irow:1;mso-yfti-lastrow:yes;height:34.45pt'> <td style='border:inset #CCCCCC 1.0pt;padding:0cm 0cm 0cm 0cm;height:34.45pt'> <p align=center style='text-align:center'><b><span style='font-size:18.0pt; mso-bidi-font-size:10.0pt'>&nbsp;DEAMBULATION ARTIFICIELLE - ARTIFICIAL WALKING&nbsp;</span><o:p></o:p></b></p> </td> </tr> </table> </div> <h2 align=center style='text-align:center'><span style='mso-fareast-font-family: "Times New Roman"'><o:p>&nbsp;</o:p></span></h2> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:18.0pt; mso-bidi-font-size:10.0pt;font-family:Verdana'>1.</span></b><span style='font-size:7.0pt;font-family:"Times New Roman"'>&nbsp;&nbsp;&nbsp; </span><strong><span style='font-size:18.0pt;mso-bidi-font-size:10.0pt;font-family:Verdana'>Scientific goals of the proposal</span></strong><i style='mso-bidi-font-style:normal'><span style='font-family:Verdana'> <o:p></o:p></span></i></p> <p><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='text-align:justify'><b style='mso-bidi-font-weight: normal'><span style='font-size:13.5pt;mso-bidi-font-size:11.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi'>A) Overall Objectives</span></b><b style='mso-bidi-font-weight:normal'><span style='font-size:11.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'><o:p></o:p></span></b></p> <p class=MsoNormal style='text-align:justify'><span style='font-size:11.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='text-align:justify'><span style='font-size:12.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>The motivation approach is the complementary research works of these teams. Indeed, a collaborative project should give an additional value to their research results. </span><span lang=FR style='font-size:12.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi;mso-ansi-language:FR'>On one hand, the DEMAR Project Team has <span class=SpellE>experience</span> in <span class=SpellE>Functional</span> <span class=SpellE>Electrical</span> Stimulation to restore or <span class=SpellE>modulate</span> <span class=SpellE>movements</span> on spinal <span class=SpellE>cord</span> <span class=SpellE>injured</span> patients and post stroke patients. In <span class=SpellE>both</span> pathologies <span class=SpellE>researches</span> on <span class=SpellE>assisted</span> <span class=SpellE>gait</span> <span class=SpellE>using</span> FES (for <span class=SpellE>paraplegics</span> <span class=SpellE>with</span> a <span class=SpellE>walker</span> and <span class=SpellE>hemiplegics</span>) are <span class=SpellE>carried</span> out in the team </span><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>(cf. Figure 1). <o:p></o:p></span></p> <p class=MsoNormal style='margin-left:18.0pt;text-align:justify'><span style='font-size:11.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='margin-left:18.0pt;text-align:justify'><span style='font-size:11.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal align=center style='margin-left:18.0pt;text-align:center'><span lang=FR style='font-size:11.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;mso-ansi-language:FR;mso-no-proof:yes'><!--[if gte vml 1]><v:shapetype id="_x0000_t75" coordsize="21600,21600" o:spt="75" o:preferrelative="t" path="m@4@5l@4@11@9@11@9@5xe" filled="f" stroked="f"> <v:stroke joinstyle="miter"/> <v:formulas> <v:f eqn="if lineDrawn pixelLineWidth 0"/> <v:f eqn="sum @0 1 0"/> <v:f eqn="sum 0 0 @1"/> <v:f eqn="prod @2 1 2"/> <v:f eqn="prod @3 21600 pixelWidth"/> <v:f eqn="prod @3 21600 pixelHeight"/> <v:f eqn="sum @0 0 1"/> <v:f eqn="prod @6 1 2"/> <v:f eqn="prod @7 21600 pixelWidth"/> <v:f eqn="sum @8 21600 0"/> <v:f eqn="prod @7 21600 pixelHeight"/> <v:f eqn="sum @10 21600 0"/> </v:formulas> <v:path o:extrusionok="f" gradientshapeok="t" o:connecttype="rect"/> <o:lock v:ext="edit" aspectratio="t"/> </v:shapetype><v:shape id="Image_x0020_20" o:spid="_x0000_i1032" type="#_x0000_t75" alt=":INRIA-AT-DEMAR-STANFORD-v03-Phil.html_fichiers:image001.png" style='width:209pt; height:151pt;visibility:visible;mso-wrap-style:square'> <v:imagedata src="index_fichiers/image001.png" o:title="image001"/> <v:textbox style='mso-rotate-with-shape:t'/> </v:shape><![endif]--><![if !vml]><img width=211 height=153 src="index_fichiers/image002.png" alt=":INRIA-AT-DEMAR-STANFORD-v03-Phil.html_fichiers:image001.png" v:shapes="Image_x0020_20"><![endif]><!--[if gte vml 1]><v:shape id="Image_x0020_21" o:spid="_x0000_i1033" type="#_x0000_t75" alt=":INRIA-AT-DEMAR-STANFORD-v03-Phil.html_fichiers:image003.png" style='width:201pt;height:164pt;visibility:visible;mso-wrap-style:square'> <v:imagedata src="index_fichiers/image003.png" o:title="image003"/> <v:textbox style='mso-rotate-with-shape:t'/> </v:shape><![endif]--><![if !vml]><img width=203 height=166 src="index_fichiers/image004.png" alt=":INRIA-AT-DEMAR-STANFORD-v03-Phil.html_fichiers:image003.png" v:shapes="Image_x0020_21"><![endif]></span><span style='font-size:11.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'><o:p></o:p></span></p> <p class=MsoNormal style='text-align:justify'><span style='font-size:11.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal align=center style='text-align:center'><span lang=FR style='font-size:11.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;mso-ansi-language:FR'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; </span><span style='font-size:11.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi'><o:p></o:p></span></p> <p class=MsoNormal align=center style='text-align:center'><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>Figure 1: (a) Paraplegic patient walking under FES, (b) Implanted FES stimulator<o:p></o:p></span></p> <p class=MsoNormal style='text-align:justify'><span style='font-size:11.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='text-align:justify'><span style='font-size:12.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>On the other hand, the Robotics research group (Stanford) carries out manipulation tasks with a humanoid robot under equilibrium constraints&nbsp; (cf. Figure 2).<o:p></o:p></span></p> <p class=MsoNormal align=center style='margin-left:18.0pt;text-align:center'><span lang=FR style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;mso-ansi-language:FR'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal align=center style='margin-left:18.0pt;text-align:center'><span lang=FR style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;mso-ansi-language:FR'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal align=center style='margin-left:18.0pt;text-align:center'><span lang=FR style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;mso-ansi-language:FR'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal align=center style='margin-left:18.0pt;text-align:center'><span lang=FR style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;mso-ansi-language:FR;mso-no-proof:yes'><!--[if gte vml 1]><v:shape id="Image_x0020_22" o:spid="_x0000_i1034" type="#_x0000_t75" alt=":INRIA-AT-DEMAR-STANFORD-v03-Phil.html_fichiers:image012.png" style='width:273pt;height:154pt;visibility:visible;mso-wrap-style:square'> <v:imagedata src="index_fichiers/image005.png" o:title="image012"/> <v:textbox style='mso-rotate-with-shape:t'/> </v:shape><![endif]--><![if !vml]><img width=275 height=156 src="index_fichiers/image006.png" alt=":INRIA-AT-DEMAR-STANFORD-v03-Phil.html_fichiers:image012.png" v:shapes="Image_x0020_22"><![endif]></span><span lang=FR style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;mso-ansi-language:FR'><o:p></o:p></span></p> <p class=MsoNormal align=center style='margin-left:18.0pt;text-align:center'><span lang=FR style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;mso-ansi-language:FR'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal align=center style='margin-left:18.0pt;text-align:center'><span lang=FR style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;mso-ansi-language:FR'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal align=center style='margin-left:18.0pt;text-align:center'><span lang=FR style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;mso-ansi-language:FR'>&nbsp; &nbsp;</span><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'> &nbsp; &nbsp;<o:p></o:p></span></p> <p class=MsoNormal align=center style='text-align:center'><span lang=FR style='font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi;mso-ansi-language:FR'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal align=center style='text-align:center'><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>Figure 2: Motion analysis on SAI</span><span style='font-size:11.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'><o:p></o:p></span></p> <p><span style='font-size:11.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"'><o:p>&nbsp;</o:p></span></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt; mso-bidi-font-size:11.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"'>B) Collaborative projects</span></b><b style='mso-bidi-font-weight:normal'><span style='font-size:11.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"'> <o:p></o:p></span></b></p> <p><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='text-align:justify'><span style='font-size:12.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>Within the framework of the previous collaboration, the crossed visits and seminars last year led us to work on two different directions:<o:p></o:p></span></p> <p class=MsoNormal style='text-align:justify'><span style='font-size:12.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>-<span style="mso-spacerun:yes">  </span>FES muscle modeling in <span class=SpellE>Opensim</span> framework<o:p></o:p></span></p> <p class=MsoNormal style='mso-pagination:none;mso-layout-grid-align:none; text-autospace:none'><span style='font-size:12.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi'>- </span><span lang=FR style='font-size:12.0pt;mso-bidi-font-size:14.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman Bold";mso-ansi-language:FR;mso-bidi-font-weight: bold'>Control <span class=SpellE>mechanisms</span> <span class=SpellE>underlying</span> <span class=SpellE>age-related</span> changes in <span class=SpellE>motor</span> control <span class=SpellE>strategies</span> <span class=SpellE>during</span> <span class=SpellE>Sit</span>-To-Stand.<o:p></o:p></span></p> <p class=MsoNormal style='text-align:justify'><span style='font-size:12.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='text-align:justify'><span style='font-size:12.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>We describe briefly each of them and make a conclusion on the topics we want to focus our efforts next year.<o:p></o:p></span></p> <p class=MsoNormal style='text-align:justify'><span style='font-size:11.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='text-align:justify'><span style='font-size:11.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='text-align:justify'><b style='mso-bidi-font-weight: normal'><span style='font-size:18.0pt;mso-bidi-font-size:11.0pt;font-family: Verdana'>2. Review of 2010<o:p></o:p></span></b></p> <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span style='font-size:14.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'><o:p>&nbsp;</o:p></span></b></p> <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span style='font-size:14.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'>A) FES muscle modeling in <span class=SpellE>opensim</span> framework<span style="mso-spacerun:yes">   </span></span></b><b style='mso-bidi-font-weight:normal'><span lang=FR style='font-size:14.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi;mso-ansi-language:FR'><o:p></o:p></span></b></p> <p class=MsoNormal><span style='mso-bidi-font-size:14.0pt'>(M. <span class=SpellE>Hayashibe</span>, D. <span class=SpellE>Guiraud</span>, </span><span lang=FR style='mso-bidi-font-size:14.0pt;mso-ansi-language:FR'>L. Sentis, </span><span style='mso-bidi-font-size:14.0pt'>E. <span class=SpellE>Demircan</span>, O. <span class=SpellE>Khatib</span>)</span><span lang=FR style='mso-bidi-font-size:14.0pt; mso-ansi-language:FR'><o:p></o:p></span></p> <p class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto; text-align:justify'><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>In FES, movement synthesis and control are still challenging task due to the complexity of whole body dynamics computation and the nonlinearity of stimulated muscle dynamics. The characteristics of each muscle and each patient are quite different then mathematical model to represent the muscle dynamics and whole body biomechanics system should be required to enable the identification and the control corresponding to the subject-specific modeling. An efficient movement synthesis means that criteria can be defined and evaluated through an accurate numeric simulation. Optimization methods are then used to process the data in order to obtain stimulation patterns for a given movement. <o:p></o:p></span></p> <p class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto; text-align:justify'><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>For the first step of the above objective, we have performed the implementation of muscle model representing the electrically stimulated muscle into the Stanford <span class=SpellE>opensim</span> <span class=GramE>framework which</span> has whole body musculoskeletal geometry.<span style="mso-spacerun:yes">  </span>Initially, our FES physiological muscle model was developed in <span class=SpellE>matlab</span>. For the integration with Stanford platform for whole body dynamic computation, it was essential to be rewritten in <span class=SpellE>c++</span> class and in <span class=SpellE>opensim</span> structure. SAI dynamics platform of Stanford side can be naturally compatible with the <span class=SpellE>opensim</span> muscle style code.<o:p></o:p></span></p> <p class=MsoNormal align=center style='mso-margin-top-alt:auto;mso-margin-bottom-alt: auto;text-align:center'><span lang=FR style='mso-ansi-language:FR;mso-no-proof: yes'><!--[if gte vml 1]><v:shape id="Image_x0020_4" o:spid="_x0000_i1035" type="#_x0000_t75" alt="muscle" style='width:414pt;height:241pt;visibility:visible; mso-wrap-style:square'> <v:imagedata src="index_fichiers/image007.png" o:title="muscle"/> <v:textbox style='mso-rotate-with-shape:t'/> </v:shape><![endif]--><![if !vml]><img width=416 height=243 src="index_fichiers/image008.png" alt=muscle v:shapes="Image_x0020_4"><![endif]></span></p> <p class=MsoNormal align=center style='mso-margin-top-alt:auto;mso-margin-bottom-alt: auto;text-align:center'><span class=GramE>Fig.1 FES muscle activation test in simple dynamic situation with two muscles.</span> The right plots show activation level, developed muscle force and the contracted muscle length respectively.</p> <p class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto; text-align:justify'><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>The FES muscle class was implemented and integrated with the <span class=SpellE>opensim</span> platform. FES muscle activation was tested in simple dynamic situation with two muscles as shown in Fig.1. Blue lines show the path of muscle and the gray block was fixed on the floor then middle cube was pulled with the identical muscle stimulated synchronously. The right plots show activation level, developed muscle force and the contracted muscle length respectively. The result in this isometric test showed the same result as the numerical integration in <span class=SpellE>matlab</span>.<o:p></o:p></span></p> <p class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto; text-align:justify'><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>The implementation of FES muscle class allows us to easily develop the plug-in to be used with whole body <span class=SpellE>musuculoskeletal</span> model. Originally <span class=SpellE>opensim</span> model is embedded with Hill muscle model designed to represent voluntary muscle contractions. Through plug-in feature in <span class=SpellE>opensim</span> environment, all muscles could be replaced with FES muscle models as shown in Fig.2.<o:p></o:p></span></p> <p class=MsoNormal align=center style='mso-margin-top-alt:auto;mso-margin-bottom-alt: auto;text-align:center'><span lang=FR style='mso-ansi-language:FR;mso-no-proof: yes'><!--[if gte vml 1]><v:shape id="Image_x0020_5" o:spid="_x0000_i1036" type="#_x0000_t75" alt="plugin" style='width:270pt;height:215pt;visibility:visible; mso-wrap-style:square'> <v:imagedata src="index_fichiers/image009.png" o:title="plugin"/> <v:textbox style='mso-rotate-with-shape:t'/> </v:shape><![endif]--><![if !vml]><img width=272 height=217 src="index_fichiers/image010.png" alt=plugin v:shapes="Image_x0020_5"><![endif]></span></p> <p class=MsoNormal align=center style='mso-margin-top-alt:auto;mso-margin-bottom-alt: auto;text-align:center'>Fig.2 Musculoskeletal model with FES muscle models in <span class=SpellE>opensim</span> platform.</p> <p class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto; text-align:justify'><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>For the next year, we should work on the simulation to reproduce experimental motion data and the control in SAI dynamic environment. Implementation of muscle class should be improved to be utilized for the optimization to find appropriate stimulation input signals. If the desired task is given, inverse kinematics and dynamics should be able to be solved. It already can be done at least in joint dynamics level. However, automatic generation of stimulation signals in FES considering whole body dynamics and muscle redundancy is not yet solved. Then, we can enter the step for next year. The optimization or control criteria would be required to solve muscle redundancy problem. Using experimental motion data, and trying to find the appropriate FES signals for different criteria can be interesting for the advanced FES controller development</span><span style='font-size:12.0pt;mso-bidi-font-size: 10.0pt'>.<o:p></o:p></span></p> <p class=MsoNormal style='text-align:justify'><span style='font-family:Arial; mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='text-align:justify'><b style='mso-bidi-font-weight: normal'><span style='font-size:13.5pt;mso-bidi-font-size:10.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi'>B) The <span class=SpellE>HumanPost</span> project: motion control in the elderly population.<o:p></o:p></span></b></p> <p class=MsoNormal style='text-align:justify'><span style='font-family:Arial; mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi'>(E. <span class=SpellE>Demircan</span>, O. <span class=SpellE>Khatib</span>, P. <span class=SpellE>Fraisse</span>, M. <span class=SpellE>Vanoncini</span>, <span class=SpellE>T.Keller</span> (<span class=SpellE>Fatronik</span>))<o:p></o:p></span></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:12.0pt; mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; color:#990000'><o:p>&nbsp;</o:p></span></b></p> <p class=MsoNormal style='text-align:justify'><span class=SpellE><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi; mso-ansi-language:EN-GB'>HumanPost</span></span><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;mso-ansi-language:EN-GB'> is joint research project involving the <span class=SpellE>Lirmm</span> the Research Centre <span class=SpellE>Fatronik-Technalia</span> (with main headquarters in San Sebastian, Spain, and a  node in Montpellier, France) and Stanford University through @Walk project. The visit to Stanford first was participating to a workshop on the software package <span class=SpellE>Opensim</span>; the second was to establish a working relationship with <span class=SpellE>Emel</span> <span class=SpellE>Demircan</span>, a PhD student at the AI laboratory. Both objectives are closely related to the <span class=SpellE>HumanPost</span> project, as explained later in this document (see sections  <span class=SpellE><i style='mso-bidi-font-style:normal'>Opensim</i></span><i style='mso-bidi-font-style: normal'> workshop</i> and  <i style='mso-bidi-font-style:normal'>EMG informed CMC project</i> ).<o:p></o:p></span></p> <p class=MsoNormal><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size: 10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi;mso-ansi-language:EN-GB'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='text-align:justify'><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;mso-ansi-language:EN-GB'>The aim of the <span class=SpellE>Humanpost</span> project is to study motion control in the elderly population, and in particular during sit-to-stand transfers. The ageing process induces physiological <span class=GramE>changes which have detrimental effects on postural coordination and stability control; understanding and modelling such effects</span> has potential impact on clinical practice and humanoid robotics. In clinical practice, such knowledge can lead to the development of more reliable testing procedures for fall prevention in the elderly population, and allow the development of more effective post-traumatic rehabilitation procedures. In humanoid robotics, it will guide the development of better human-machine interfaces for robotic devices aimed at providing mobility assistance for the frail <span class=SpellE>eldelry</span> during daily activities, possibly interacting with their carers. Following this vision, the project focuses on the Sit-To-Stand (STS) transfer, since it is a pre-requisite for independent living, and is at the base of several test procedures used in clinical practice. The experimental work conducted for the project consisted in collecting biomechanical data (movement, forces exerted on the ground, and muscle electrical activity) during STS transfers performed by a total of 37 volunteers, divided in 2 age groups (young and elderly). Each volunteer was asked to perform STS movements at different velocities and with eyes open or closed; imposing more challenging conditions than those encountered in everyday activities was expected to magnify differences between the two age groups in the movement strategies adopted. <o:p></o:p></span></p> <p class=MsoNormal style='text-align:justify'><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;mso-ansi-language:EN-GB'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='text-align:justify'><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;mso-ansi-language:EN-GB'>The software <span class=SpellE>Opensim</span> was used to perform several steps of the data elaboration procedure, to compute meaningful variables for a comparison of the STS in the two age groups. The workshop organized at Stanford University was allowed us to improve our usage of this software tool.<o:p></o:p></span></p> <p class=MsoNormal><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size: 10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi;mso-ansi-language:EN-GB'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal><i style='mso-bidi-font-style:normal'><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;mso-ansi-language:EN-GB'>The <span class=SpellE>Opensim</span> workshop<o:p></o:p></span></i></p> <p class=MsoNormal style='text-align:justify'><span class=SpellE><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi; mso-ansi-language:EN-GB'>Opensim</span></span><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;mso-ansi-language:EN-GB'> is a free-to-the-user software package for the simulation of the human body, providing tools for the elaboration of typical sets of experimental data collected in movement laboratories. The software is developed and maintained at the <span class=SpellE>Simbios</span> National NIH <span class=SpellE>Center</span> for Biomedical Computing, based at Stanford University, and it is being adopted as a working tool by a growing community of research scientists all over the world. The workshop organized in Stanford brought together users from different research institutions, and focused on the particular applications proposed by the participants. We consider the participation to the workshop as an invaluable experience, since it allowed us to deepen our knowledge of the software by talking directly to the developers. This enhanced our awareness of its potentialities and of its limitations, which is essential for a critical analysis of the results of my study. We are using <span class=SpellE>Opensim</span> to compute the values of the physiological joint angles of the human body (ankle, knee, hip, <span class=SpellE>etc</span>) from the data collected with a motion capture system; furthermore, it allows to compute the joint torques needed to accomplish the STS movement, and to estimate the muscle contractions required to produce such torques. However, the estimate is based on mechanical models of the biological tissues (<span class=SpellE>tendons<span class=GramE>,ligaments</span></span> and muscles) which have only been validated for a population of young adults. This may limit the results currently obtainable from experimental data collected on the elderly population. The <i style='mso-bidi-font-style:normal'>EMG informed CMC project </i>tries to address this issue.<o:p></o:p></span></p> <p class=MsoNormal><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size: 10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi;mso-ansi-language:EN-GB'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal><i style='mso-bidi-font-style:normal'><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;mso-ansi-language:EN-GB'>The EMG informed CMC project<o:p></o:p></span></i></p> <p class=MsoNormal style='text-align:justify'><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;mso-ansi-language:EN-GB'>The <i style='mso-bidi-font-style:normal'>EMG informed CMC</i> project aims at using <span class=SpellE>electromyographic</span> signals (EMG) as an additional source of information for the estimation of the muscle control activations (Computed Muscle Control), which are currently estimated on the basis of measured movement and force exerted on the ground. The new concept has been implemented as a software plug-in for <span class=SpellE>Opensim</span> by <span class=SpellE>Emel</span> <span class=SpellE>Demircan</span> (Stanford University), and has been tested on a limited set of experimental data, collected during a walking cycle. The <i style='mso-bidi-font-style:normal'>EMG informed CMC</i> project aims at validating and improving the new tool, by testing it on the data collected during STS movements. Our visit to Stanford gave us the opportunity to work with E. <span class=SpellE>Demircan</span> the specific aims of the project, and to plan the research work. It is envisaged that the improved estimation of the muscle activations provided by the new software will serve as a tool for a more appropriate comparison of young and elderly subjects than what is possible at the present time.<o:p></o:p></span></p> <p class=MsoNormal style='text-align:justify'><span lang=EN-GB style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;mso-ansi-language:EN-GB'>In fact, the modifications of the musculoskeletal system due to ageing (decrease in force and velocity of contraction of the <span class=SpellE>myofibers</span>, changes in the mechanical properties of the tendons, etc.) have been widely investigated and measured for specific cases (e.g. flexion/extension of the ankle joint). However, a generalization of this work of quantification remains difficult, and hence it is impossible to include age related modifications in a full body model of the human body. Therefore, biomechanical studies in <span class=SpellE>gerontotechnology</span> are usually conducted considering a model validated for the young population. This may induce a bias in the results, typically in the estimation of the muscle activations required to perform a chosen movement. The <i style='mso-bidi-font-style:normal'>EMG informed CMC </i>project proposes a method to improve the estimation of muscle activations which takes into account the effects of the ageing process, since these are reflected by the EMG recordings. The research will not involve the development of a model of the elderly, which would require more time and resources; nonetheless it will allow to estimate the error which is committed when using a «&nbsp;young model&nbsp;» to estimate muscle activations in the elderly. This information will allow to judge the urgency of the development of biomechanical model for the elderly. <o:p></o:p></span></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:12.0pt; mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"'><o:p>&nbsp;</o:p></span></b></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:12.0pt; mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"'><o:p>&nbsp;</o:p></span></b></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:12.0pt; mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"'>C) Common Publications in 2010<o:p></o:p></span></b></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt; mso-bidi-font-size:10.0pt;font-family:Verdana;color:#990000'><o:p>&nbsp;</o:p></span></b></p> <p style='text-align:justify'><span class=SpellE><b style='mso-bidi-font-weight: normal'><span lang=FR style='font-size:12.0pt;mso-bidi-font-size:14.0pt; font-family:Arial;mso-ansi-language:FR'>Journals</span></b></span><b style='mso-bidi-font-weight:normal'><span lang=FR style='font-size:12.0pt; mso-bidi-font-size:14.0pt;font-family:Arial;mso-ansi-language:FR'> <o:p></o:p></span></b></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt; mso-bidi-font-size:10.0pt;font-family:Verdana;color:#990000'><o:p>&nbsp;</o:p></span></b></p> <p style='margin-top:.1pt;margin-right:13.9pt;margin-bottom:0cm;margin-left: 0cm;margin-bottom:.0001pt'><span style='font-size:11.0pt;mso-bidi-font-size: 10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"'>M. <span class=SpellE>Vanoncini</span>, E. <span class=SpellE>Demircan</span>, P. <span class=SpellE>Fraisse</span>, N. <span class=SpellE>Ramdani</span>, T. Keller, O. <span class=SpellE>Khatib</span>, </span><span style='font-size:11.0pt; mso-bidi-font-size:13.5pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"'>Control mechanisms underlying age-related changes in motor control strategies during Sit-To-Stand. Submitted to Gait &amp; Posture.</span></p> <p><span style='font-size:11.0pt;mso-bidi-font-size:10.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman"'><o:p>&nbsp;</o:p></span></p> <p><span style='font-size:11.0pt;mso-bidi-font-size:10.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman"'>- We are also preparing a paper on Sit-to-Stand modeling in collaboration with Stanford for Journal of Biomechanics. We aim at developing a simulation tool based on an optimization process dedicated to elderly people for physiotherapy exercises.<o:p></o:p></span></p> <p><span style='font-size:11.0pt;mso-bidi-font-size:10.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman"'><o:p>&nbsp;</o:p></span></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:12.0pt; mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"'>Workshop<o:p></o:p></span></b></p> <p><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman"'>Pr. O. <span class=SpellE>Khatib</span> has organized a workshop entitled  Musculoskeletal Biomechanics, Model and Simulation at the </span><span lang=FR style='font-size:12.0pt;mso-bidi-font-size: 19.0pt;font-family:Arial;mso-bidi-font-family:"Stone Sans ITC TT-Bold"; mso-ansi-language:FR;mso-bidi-font-weight:bold'>International <span class=SpellE>Conference</span> &amp; Course on <span class=SpellE>Orthopaedic</span> <span class=SpellE>Biomechanics</span>, <span class=SpellE>Clinical</span> Applications &amp; <span class=SpellE>Surgery</span>, <span class=SpellE>June</span> 2010, London, <span class=SpellE>England</span>.<o:p></o:p></span></p> <p><span lang=FR style='font-size:12.0pt;mso-bidi-font-size:19.0pt;font-family: Arial;mso-bidi-font-family:"Stone Sans ITC TT-Bold";mso-ansi-language:FR; mso-bidi-font-weight:bold'><o:p>&nbsp;</o:p></span></p> <p><span lang=FR style='font-size:12.0pt;mso-bidi-font-size:19.0pt;font-family: Arial;mso-bidi-font-family:"Stone Sans ITC TT-Bold";mso-ansi-language:FR; mso-bidi-font-weight:bold'>The <span class=SpellE>papers</span> <span class=SpellE>presented</span> are:<o:p></o:p></span></p> <p><span lang=FR style='font-size:12.0pt;mso-bidi-font-size:19.0pt;font-family: Arial;mso-bidi-font-family:"Stone Sans ITC TT-Bold";mso-ansi-language:FR; mso-bidi-font-weight:bold'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='mso-pagination:none;mso-layout-grid-align:none; text-autospace:none'><span lang=FR style='font-size:11.0pt;mso-bidi-font-size: 6.0pt;font-family:Arial;mso-bidi-font-family:FuturaStd-Book;mso-ansi-language: FR;mso-bidi-font-style:italic'>1)<i> <span class=SpellE>M.Vanoncini</span>, <span class=SpellE>N.Ramdani</span>, <span class=SpellE>P.Fraisse</span> and</i></span><i style='mso-bidi-font-style:normal'><span lang=FR style='font-size:11.0pt; mso-bidi-font-size:6.0pt;font-family:Arial;mso-bidi-font-family:FuturaStd-Book; mso-ansi-language:FR'> <span class=SpellE><span style='mso-bidi-font-style: italic'>T.Keller</span></span></span></i><i style='mso-bidi-font-style:normal'><span lang=FR style='font-size:11.0pt;mso-bidi-font-size:19.0pt;font-family:Arial; mso-bidi-font-family:"Stone Sans ITC TT-Bold";mso-ansi-language:FR;mso-bidi-font-weight: bold'>,</span></i><span lang=FR style='font-size:11.0pt;mso-bidi-font-size: 19.0pt;font-family:Arial;mso-bidi-font-family:"Stone Sans ITC TT-Bold"; mso-ansi-language:FR;mso-bidi-font-weight:bold'> </span><span lang=FR style='font-size:11.0pt;mso-bidi-font-size:6.0pt;font-family:Arial;mso-bidi-font-family: FuturaStd-Book;mso-ansi-language:FR'>COP and COM Control <span class=SpellE>during</span> STS: <span class=SpellE>Effects</span> of <span class=SpellE>Ageing</span>.<o:p></o:p></span></p> <p class=MsoNormal style='mso-pagination:none;mso-layout-grid-align:none; text-autospace:none'><span lang=FR style='font-size:11.0pt;mso-bidi-font-size: 6.0pt;font-family:Arial;mso-bidi-font-family:FuturaStd-Book;mso-ansi-language: FR'>2) <i>E. <span class=SpellE>Demircan</span>, O. <span class=SpellE>Khatib</span>,</i> <span class=SpellE>Robotics-Based</span> <span class=SpellE>Human</span> <span class=SpellE>Dynamic</span> Performance <span class=SpellE>Analysis</span> <o:p></o:p></span></p> <p class=MsoNormal style='mso-pagination:none;mso-layout-grid-align:none; text-autospace:none'><span lang=FR style='font-size:11.0pt;mso-bidi-font-size: 6.0pt;font-family:Arial;mso-bidi-font-family:FuturaStd-Book;mso-ansi-language: FR'>3) <i>M. <span class=SpellE>Hayashibe</span>, Q. Zhang, D.</i> <i>Guiraud, C. <span class=SpellE>Fattal</span> (Clique <span class=SpellE>Propara</span>), P. <span class=SpellE>Fraisse</span>, </i><span class=SpellE>Modeling</span> and <span class=SpellE>Experimental</span> Identification for <span class=SpellE>Muscular</span> Force Estimation <span class=SpellE>Based</span> on <span class=SpellE>Evoked</span> EMG in FES <o:p></o:p></span></p> <p class=MsoNormal style='mso-pagination:none;mso-layout-grid-align:none; text-autospace:none'><span lang=FR style='font-size:11.0pt;mso-bidi-font-size: 6.0pt;font-family:Arial;mso-bidi-font-family:FuturaStd-Book;mso-ansi-language: FR'><o:p>&nbsp;</o:p></span></p> <p><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman"'><o:p>&nbsp;</o:p></span></p> <p><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman"'><a href="file://localhost/index_fichiers/report.pdf">Report on <span class=SpellE>HumanPost</span> project.</a></span><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt;mso-bidi-font-size:10.0pt;font-family:Verdana; color:#990000'><o:p></o:p></span></b></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt; mso-bidi-font-size:10.0pt;font-family:Verdana;color:#990000'><o:p>&nbsp;</o:p></span></b></p> <p><strong><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Verdana'>Exchanges</span></strong><em><span style='font-size:12.0pt;mso-bidi-font-size: 10.0pt;font-family:Verdana'> </span></em><em><b style='mso-bidi-font-weight: normal'><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Verdana;font-style:normal'>2010</span></b></em><em><span style='font-size:9.0pt; mso-bidi-font-size:10.0pt;font-family:Times'><o:p></o:p></span></em></p> <p><em><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman"'><o:p>&nbsp;</o:p></span></em></p> <p><em><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman";font-style:normal'>Stanford:<o:p></o:p></span></em></p> <p><em><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman";font-style:normal'>- <span class=SpellE>Emel</span> <span class=SpellE>Demircan</span>, 2,5 weeks (June/July 2010)<o:p></o:p></span></em></p> <p><em><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman";font-style:normal'>- Luis <span class=SpellE>Sentis</span>, 1 week (June 2010)<o:p></o:p></span></em></p> <p><em><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman";font-style:normal'>- O. <span class=SpellE>Khatib</span>, 1 week (October 2010)<o:p></o:p></span></em></p> <p><em><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman";font-style:normal'><o:p>&nbsp;</o:p></span></em></p> <p><span class=SpellE><em><span style='font-size:12.0pt;mso-bidi-font-size: 10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman";font-style: normal'>Demar</span></em></span><em><span style='font-size:12.0pt;mso-bidi-font-size: 10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman";font-style: normal'> Project:<o:p></o:p></span></em></p> <p><em><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman";font-style:normal'>- Mitsuhiro <span class=SpellE>Hayashibe</span>, 3 weeks (April/May 2010)<o:p></o:p></span></em></p> <p><em><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman";font-style:normal'>- Michele <span class=SpellE>Vanoncini</span>, 3 weeks (April/may 2010)<o:p></o:p></span></em></p> <p><em><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman";font-style:normal'>- P. <span class=SpellE>Fraisse</span>, 4 weeks (August/September 2010)<o:p></o:p></span></em></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt; mso-bidi-font-size:10.0pt;font-family:Verdana;color:#990000'><o:p>&nbsp;</o:p></span></b></p> <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span style='font-size:18.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:black'>2. Review of 2011<o:p></o:p></span></b></p> <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span style='font-size:14.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;color:black'>A) FES muscle modeling in <span class=SpellE>opensim</span> framework</span></b><span style='font-size:14.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'> <o:p></o:p></span></p> <p class=MsoNormal><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:#4D4D4D'>In FES, movement synthesis and control are still challenging tasks due to the complexity of whole body dynamics computation and the nonlinearity of stimulated muscle dynamics. An efficient movement synthesis means that criteria can be defined and evaluated through an accurate numeric simulation. We perform the implementation of muscle model representing the electrically stimulated muscle into the <span class=SpellE>OpenSim</span> <span class=GramE>framework which</span> has whole body musculoskeletal geometry. We would like to develop the FES simulator using Stanford Operational Space Whole-Body Controller which allows the real-time motion generation with virtual FES and finally we aim at the development of motion correction controller to find the appropriate FES signals against a disabled motor function.</span><span style='font-size:12.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'> <o:p></o:p></span></p> <p class=MsoNormal><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal><span lang=FR style='font-size:14.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi; mso-ansi-language:FR;mso-no-proof:yes'><!--[if gte vml 1]><v:shape id="Image_x0020_1" o:spid="_x0000_i1037" type="#_x0000_t75" alt="Description : im1.png" style='width:499pt; height:484pt;visibility:visible;mso-wrap-style:square'> <v:imagedata src="index_fichiers/image011.png" o:title="im1.png"/> </v:shape><![endif]--><![if !vml]><img border=0 width=501 height=486 src="index_fichiers/image012.png" alt="Description : im1.png" v:shapes="Image_x0020_1"><![endif]></span><span style='font-size:14.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'><o:p></o:p></span></p> <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span style='font-size:14.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;color:black'>B) The <span class=SpellE>HumanPost</span> project: motion control in the elderly population.</span></b><span style='font-size:14.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'> <br> </span><span lang=FR style='font-size:14.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;mso-ansi-language:FR; mso-no-proof:yes'><!--[if gte vml 1]><v:shape id="Image_x0020_2" o:spid="_x0000_i1038" type="#_x0000_t75" alt="im2.png" style='width:499pt;height:560pt;visibility:visible; mso-wrap-style:square'> <v:imagedata src="index_fichiers/image013.png" o:title="im2.png"/> </v:shape><![endif]--><![if !vml]><img border=0 width=501 height=562 src="index_fichiers/image014.png" alt=im2.png v:shapes="Image_x0020_2"><![endif]></span><span style='font-size:14.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'><o:p></o:p></span></p> <p class=MsoBodyText style='mso-pagination:widow-orphan'><span class=SpellE><span lang=EN-GB style='mso-bidi-font-size:14.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";color:black;mso-ansi-language:EN-GB'>HumanPost</span></span><span lang=EN-GB style='mso-bidi-font-size:14.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";color:black;mso-ansi-language:EN-GB'> is joint research project involving the <span class=SpellE>Lirmm</span> the Research Centre <span class=SpellE>Fatronik-Technalia</span> (with main headquarters in San Sebastian, Spain, and a  node in Montpellier, France) and Stanford University through @Walk project. The visit to Stanford first was participating to a workshop on the software package <span class=SpellE>Opensim</span>; the second was to establish a working relationship with <span class=SpellE><b>Emel</b></span><b> <span class=SpellE>Demircan</span></b>, a PhD student at the AI laboratory. Both objectives are closely related to the <span class=SpellE>HumanPost</span> project, as explained later in this document (see sections  <span class=SpellE><i style='mso-bidi-font-style:normal'>Opensim</i></span><i style='mso-bidi-font-style: normal'> workshop</i> and  <i style='mso-bidi-font-style:normal'>EMG informed CMC project</i> ).<o:p></o:p></span></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;mso-pagination: widow-orphan'><span style='color:black'><o:p>&nbsp;</o:p></span></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;text-align: justify;mso-pagination:widow-orphan'><span lang=EN-GB style='font-family:Arial; mso-bidi-font-family:"Times New Roman";color:black;mso-ansi-language:EN-GB'>The aim of the <span class=SpellE>Humanpost</span> project is to study motion control in the elderly population, and in particular during sit-to-stand transfers. The ageing process induces physiological <span class=GramE>changes which have detrimental effects on postural coordination and stability control; understanding and modelling such effects</span> has potential impact on clinical practice and humanoid robotics. In clinical practice, such knowledge can lead to the development of more reliable testing procedures for fall prevention in the elderly population, and allow the development of more effective post-traumatic rehabilitation procedures. In humanoid robotics, it will guide the development of better human-machine interfaces for robotic devices aimed at providing mobility assistance for the frail <span class=SpellE>eldelry</span> during daily activities, possibly interacting with their carers. Following this vision, the project focuses on the Sit-To-Stand (STS) transfer, since it is a pre-requisite for independent living, and is at the base of several test procedures used in clinical practice. The experimental work conducted for the project consisted in collecting biomechanical data (movement, forces exerted on the ground, and muscle electrical activity) during STS transfers performed by a total of 37 volunteers, divided in 2 age groups (young and elderly). Each volunteer was asked to perform STS movements at different velocities and with eyes open or closed; imposing more challenging conditions than those encountered in everyday activities was expected to magnify differences between the two age groups in the movement strategies adopted.<o:p></o:p></span></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;text-align: justify;mso-pagination:widow-orphan'><span style='color:black'><o:p>&nbsp;</o:p></span></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;text-align: justify;mso-pagination:widow-orphan'><span lang=EN-GB style='font-family:Arial; mso-bidi-font-family:"Times New Roman";color:black;mso-ansi-language:EN-GB'>The software <span class=SpellE>Opensim</span> was used to perform several steps of the data elaboration procedure, to compute meaningful variables for a comparison of the STS in the two age groups. The workshop organized at Stanford University was allowed us to improve our usage of this software tool.<o:p></o:p></span></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;mso-pagination: widow-orphan'><span style='color:black'><o:p>&nbsp;</o:p></span></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;mso-pagination: widow-orphan'><i style='mso-bidi-font-style:normal'><span lang=EN-GB style='font-family:Arial;mso-bidi-font-family:"Times New Roman";color:black; mso-ansi-language:EN-GB'>The EMG informed CMC project<o:p></o:p></span></i></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;text-align: justify;mso-pagination:widow-orphan'><span lang=EN-GB style='font-family:Arial; mso-bidi-font-family:"Times New Roman";color:black;mso-ansi-language:EN-GB'>The <i style='mso-bidi-font-style:normal'>EMG informed CMC </i>project aims at using <span class=SpellE>electromyographic</span> signals (EMG) as an additional source of information for the estimation of the muscle control activations (Computed Muscle Control), which are currently estimated on the basis of measured movement and force exerted on the ground. The new concept has been implemented as a software plug-in for <span class=SpellE>Opensim</span> by <span class=SpellE><b>Emel</b></span><b> <span class=SpellE>Demircan</span></b> (Stanford University), and has been tested on a limited set of experimental data, collected during a walking cycle. The <i style='mso-bidi-font-style:normal'>EMG informed CMC </i>project aims at validating and improving the new tool, by testing it on the data collected during STS movements. Our visit to Stanford gave us the opportunity to work with E. <span class=SpellE>Demircan</span> the specific aims of the project, and to plan the research work. It is envisaged that the improved estimation of the muscle activations provided by the new software will serve as a tool for a more appropriate comparison of young and elderly subjects than what is possible at the present time.<o:p></o:p></span></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;text-align: justify;mso-pagination:widow-orphan'><span lang=EN-GB style='font-family:Arial; mso-bidi-font-family:"Times New Roman";color:black;mso-ansi-language:EN-GB'><o:p>&nbsp;</o:p></span></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;text-align: justify;mso-pagination:widow-orphan'><span lang=EN-GB style='font-family:Arial; mso-bidi-font-family:"Times New Roman";color:black;mso-ansi-language:EN-GB'>In fact, the modifications of the musculoskeletal system due to ageing (decrease in force and velocity of contraction of the <span class=SpellE>myofibers</span>, changes in the mechanical properties of the tendons, etc.) have been widely investigated and measured for specific cases (e.g. flexion/extension of the ankle joint). However, a generalization of this work of quantification remains difficult, and hence it is impossible to include age related modifications in a full body model of the human body. Therefore, biomechanical studies in <span class=SpellE>gerontotechnology</span> are usually conducted considering a model validated for the young population. This may induce a bias in the results, typically in the estimation of the muscle activations required to perform a chosen movement. The <i style='mso-bidi-font-style:normal'>EMG informed CMC </i>project proposes a method to improve the estimation of muscle activations which takes into account the effects of the ageing process, since these are reflected by the EMG recordings. The research will not involve the development of a model of the elderly, which would require more time and resources; nonetheless it will allow to estimate the error which is committed when using a «young model» to estimate muscle activations in the elderly. This information will allow to judge the urgency of the development of biomechanical model for the elderly.<o:p></o:p></span></p> <p class=MsoNormal><span style='font-size:14.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span style='font-size:14.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;color:black'>C) Common Publications/Contributions in 2011</span></b><span style='font-size:14.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'> <o:p></o:p></span></p> <p class=MsoNormal><span style='font-size:14.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal style='mso-pagination:none;mso-layout-grid-align:none; text-autospace:none'><b style='mso-bidi-font-weight:normal'><span lang=FR style='font-size:12.0pt;mso-bidi-font-size:14.0pt;font-family:Arial;mso-fareast-font-family: "Times New Roman";mso-ansi-language:FR'>Journal <o:p></o:p></span></b></p> <p class=MsoNormal style='mso-pagination:none;mso-layout-grid-align:none; text-autospace:none'><span lang=FR style='font-size:12.0pt;mso-bidi-font-size: 14.0pt;font-family:Arial;mso-fareast-font-family:"Times New Roman";mso-ansi-language: FR'>Estimation of the centre of mass <span class=SpellE>from</span> motion capture and force plate <span class=SpellE>recordings</span>: a <span class=SpellE>study</span> on the <span class=SpellE>elderly</span>, by S. Cotton, <span class=SpellE>M.Vanoncini</span>, P.<o:p></o:p></span></p> <p class=MsoNormal style='mso-pagination:none;mso-layout-grid-align:none; text-autospace:none'><span class=SpellE><span lang=FR style='font-size:12.0pt; mso-bidi-font-size:14.0pt;font-family:Arial;mso-fareast-font-family:"Times New Roman"; mso-ansi-language:FR'>Fraisse</span></span><span lang=FR style='font-size:12.0pt; mso-bidi-font-size:14.0pt;font-family:Arial;mso-fareast-font-family:"Times New Roman"; mso-ansi-language:FR'>, N. <span class=SpellE>Ramdani</span>, <span class=SpellE>E.Demircan</span>, <span class=SpellE>A.P.Murray</span> &amp; <span class=SpellE>T.Keller</span>, <span class=SpellE>published</span> by <span class=SpellE>Applied</span> <span class=SpellE>Bionics</span> and <span class=SpellE>Biomechanics</span>, <span class=SpellE>February</span> 2011, Volume 8, Issue 1,<span style="mso-spacerun:yes">  </span>Pages 67-84.<o:p></o:p></span></p> <p class=MsoNormal style='mso-pagination:none;mso-layout-grid-align:none; text-autospace:none'><span lang=FR style='font-size:12.0pt;mso-bidi-font-size: 14.0pt;font-family:Arial;mso-fareast-font-family:"Times New Roman";mso-ansi-language: FR'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi'>Workshop </span></b><b style='mso-bidi-font-weight:normal'><span style='font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi'><o:p></o:p></span></b></p> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt; font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi;color:black'>1.CITRIS/INRIA Joint Workshop for Berkeley -- INRIA -- Stanford<br> Partnership Program,<a name="OBJ_PREFIX_DWT146"></a><a name="OBJ_PREFIX_DWT145"></a> </span><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;color:darkblue'>May 23 </span><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi; color:black'>-- 24, 2011<br> <b>Professor <span class=SpellE>Oussama</span> <span class=SpellE>Khatib</span></b> presented about <i>Human Centered Robotics</i>.<br> </span><a name="OBJ_PREFIX_DWT147"></a><span style='font-size:12.0pt; mso-bidi-font-size:10.0pt'><a href="https://idal-siege.inria.fr/dri/bis2011/"><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi;color:darkblue;text-decoration:none;text-underline:none'>https://idal-siege.inria.fr/dri/bis2011/</span></a></span><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:black'><br> <br> 2.Workshop on Robotics for Neurology and Rehabilitation<a name="OBJ_PREFIX_DWT149"></a><a name="OBJ_PREFIX_DWT148"></a>, </span><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;color:darkblue'>September 30th</span><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family: Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi; color:black'>,<br> 2011, IROS, San Francisco, California<br> Organizers: <b>Professor Philippe <span class=SpellE>Fraisse</span> </b>(LIRMM, France), Professor <span class=SpellE>Gentiane</span><br> Venture (TUAT, Japan), Dr. Thierry Keller (<span class=SpellE>Fatronik</span> - <span class=SpellE>Tecnalia</span>, Spain),<br> <b>Dr. Mitsuhiro <span class=SpellE>Hayashibe</span></b> (INRIA-LIRMM, France)<br> </span><a name="OBJ_PREFIX_DWT150"></a><span style='font-size:12.0pt; mso-bidi-font-size:10.0pt'><a href="http://www.tuat.ac.jp/~venture/iros/index.htm"><span style='font-family: Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi; color:darkblue;text-decoration:none;text-underline:none'>http://www.tuat.ac.jp/~venture/iros/index.htm</span></a></span><span style='font-size:12.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:black'><br> <br> <b>Professor Philippe <span class=SpellE>Fraisse</span></b> (LIRMM, France) made introductive and closing<br> remarks.<br> <span class=SpellE><b>Emel</b></span><b> <span class=SpellE>Demircan</span> </b>(Stanford University, USA) presented about Task-Level<br> Reconstruction and Analysis of Dynamic Motions in Human Musculoskeletal<br> Systems.<br> <b>Mitsuhiro <span class=SpellE>Hayashibe</span></b> (INRIA-LIRMM, France) presented about <span class=SpellE>Modelling</span> and<br> Identification of Neuromuscular Dynamics toward Advanced <span class=SpellE>Neuroprosthetics</span>.<br> <br> This workshop was organized in IEEE IROS <span class=GramE>conference which</span> was organized<br> by <b>Professor <span class=SpellE>Oussama</span> <span class=SpellE>Khatib</span> </b>as General Chair.</span><span style='font-size:12.0pt;mso-bidi-font-size: 10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'> <o:p></o:p></span></p> <p class=MsoNormal><o:p>&nbsp;</o:p></p> <p class=MsoNormal><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi'>3. A talk given by <span class=SpellE><b><span style='color:#333333'>Emel</span></b></span><b><span style='color:#333333'> <span class=SpellE>Demircan</span></span></b><span style='color:#333333'> during the <span class=SpellE><i style='mso-bidi-font-style: normal'>Journee</i></span><i style='mso-bidi-font-style:normal'> <span class=SpellE>Scientifique</span> DEMAR, <span class=SpellE>Universite</span> de Montpellier 2, June </i>2011. <o:p></o:p></span></span></p> <p class=MsoNormal><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:#333333'>Title:  Reconstruction and Analysis of Task-Driven Dynamic Motions in Human Musculoskeletal Systems .</span><span style='font-size:9.0pt;mso-bidi-font-size: 10.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi;color:#333333'><br style='mso-special-character:line-break'> <![if !supportLineBreakNewLine]><br style='mso-special-character:line-break'> <![endif]><o:p></o:p></span></p> <p class=MsoNormal><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal><strong><span style='font-size:14.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi; color:black'>D) Exchanges </span></strong><em><b style='mso-bidi-font-weight: normal'><span style='font-size:14.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:black;font-style:normal; mso-bidi-font-style:italic'>2011</span></b></em><em><b style='mso-bidi-font-weight: normal'><span style='font-size:14.0pt;font-family:Times;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:black;font-style:normal; mso-bidi-font-style:italic'><o:p></o:p></span></b></em></p> <p class=MsoNormal><span style='mso-bidi-font-weight:bold'><o:p>&nbsp;</o:p></span></p> <p class=MsoBodyText style='mso-pagination:widow-orphan'><em><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman";color:black; font-style:normal'>Stanford:</span></em><em><span style='font-style:normal'><o:p></o:p></span></em></p> <p class=MsoBodyText style='mso-pagination:widow-orphan'><em><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman";color:black'>- <span class=SpellE>Emel</span> <span class=SpellE>Demircan</span>, 2 weeks (June/July 2011)</span></em><em><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; color:black;font-style:normal'><o:p></o:p></span></em></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;mso-pagination: widow-orphan'><o:p>&nbsp;</o:p></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;mso-pagination: widow-orphan'><span class=SpellE><em><span style='font-family:Arial;mso-bidi-font-family: "Times New Roman";color:black;font-style:normal'>Demar</span></em></span><em><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman";color:black; font-style:normal'> Project:<o:p></o:p></span></em></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;mso-pagination: widow-orphan'><em><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; color:black'>- Mitsuhiro <span class=SpellE>Hayashibe</span>, 1 week (September 2011)<o:p></o:p></span></em></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;mso-pagination: widow-orphan'><em><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; color:black'>- P. <span class=SpellE>Fraisse</span>, 4 weeks (September/October 2011)<o:p></o:p></span></em></p> <p class=MsoNormal><o:p>&nbsp;</o:p></p> <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span style='font-size:18.0pt;mso-bidi-font-size:10.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:black'>3. Previsions for 2012<o:p></o:p></span></b></p> <p class=MsoNormal><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:black'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:black'>A common publication for the Journal of Biomechanics on the development of FES muscle model for real-time whole-body motion/posture control.<o:p></o:p></span></p> <p class=MsoNormal><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:black'>A common publication for the IEEE EMBC 2012 on the development and the application of FES muscle model for real-time whole-body motion/posture control.<o:p></o:p></span></p> <p class=MsoNormal><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:black'><o:p>&nbsp;</o:p></span></p> <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span style='font-size:14.0pt;mso-bidi-font-size:12.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:black'>Exchanges for 2012: <o:p></o:p></span></b></p> <p class=MsoNormal><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman";mso-bidi-theme-font:minor-bidi;color:black'><o:p>&nbsp;</o:p></span></p> <p class=MsoBodyText style='mso-pagination:widow-orphan'><em><b style='mso-bidi-font-weight:normal'><span style='font-family:Arial;mso-bidi-font-family: "Times New Roman";color:black;font-style:normal'>Stanford:</span></b></em><em><b style='mso-bidi-font-weight:normal'><span style='font-style:normal'><o:p></o:p></span></b></em></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;mso-pagination: widow-orphan'><em><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; color:black'>- <span class=SpellE>Emel</span> <span class=SpellE>Demircan</span> (April 2012)<o:p></o:p></span></em></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;mso-pagination: widow-orphan'><em><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; color:black'>- <span class=SpellE>Oussama</span> <span class=SpellE>Khatib</span> (April 2012)<o:p></o:p></span></em></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;mso-pagination: widow-orphan'><o:p>&nbsp;</o:p></p> <p class=MsoBodyText style='margin-bottom:0cm;margin-bottom:.0001pt;mso-pagination: widow-orphan'><span class=SpellE><em><b style='mso-bidi-font-weight:normal'><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman";color:black; font-style:normal'>Demar</span></b></em></span><em><b style='mso-bidi-font-weight: normal'><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman"; color:black;font-style:normal'> Project:<o:p></o:p></span></b></em></p> <p class=MsoBodyText style='margin-top:0cm;margin-right:0cm;margin-bottom:0cm; margin-left:36.0pt;margin-bottom:.0001pt;text-indent:-18.0pt;mso-pagination: widow-orphan;mso-list:l1 level1 lfo2'><![if !supportLists]><em><span style='font-family:Arial;mso-fareast-font-family:Arial;color:black;font-style: normal'><span style='mso-list:Ignore'>-<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; </span></span></span></em><![endif]><em><span style='font-family:Arial; mso-bidi-font-family:"Times New Roman";color:black;font-style:normal'>M. <span class=SpellE>Hayashibe</span> (September 2012)<o:p></o:p></span></em></p> <p class=MsoBodyText style='margin-top:0cm;margin-right:0cm;margin-bottom:0cm; margin-left:36.0pt;margin-bottom:.0001pt;text-indent:-18.0pt;mso-pagination: widow-orphan;mso-list:l1 level1 lfo2'><![if !supportLists]><em><span style='font-family:Arial;mso-fareast-font-family:Arial;color:black;mso-bidi-font-weight: bold;font-style:normal;mso-bidi-font-style:italic'><span style='mso-list:Ignore'>-<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; </span></span></span></em><![endif]><em><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman";color:black; mso-bidi-font-weight:bold'>P. <span class=SpellE>Fraisse</span> (October 2012)<o:p></o:p></span></em></p> <p class=MsoBodyText style='margin-top:0cm;margin-right:0cm;margin-bottom:0cm; margin-left:36.0pt;margin-bottom:.0001pt;text-indent:-18.0pt;mso-pagination: widow-orphan;mso-list:l1 level1 lfo2'><![if !supportLists]><em><span style='font-family:Arial;mso-fareast-font-family:Arial;color:black;font-style: normal'><span style='mso-list:Ignore'>-<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; </span></span></span></em><![endif]><em><span style='font-family:Arial; mso-bidi-font-family:"Times New Roman";color:black;font-style:normal'>A. Gonzales (September 2012)<o:p></o:p></span></em></p> <p><o:p>&nbsp;</o:p></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-family:Arial; mso-bidi-font-family:"Times New Roman";color:#990000'><o:p>&nbsp;</o:p></span></b></p> <div class=MsoNormal align=center style='text-align:center'><span style='font-family:Arial;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'> <hr size=2 width="100%" align=center> </span></div> <h2><span style='font-family:Verdana;mso-fareast-font-family:"Times New Roman"; color:#000066'>II. PREVISIONS 2012</span><span style='font-family:Verdana; mso-fareast-font-family:"Times New Roman"'><br> <span style='color:#666666'>/ 2012 Forecast </span></span><span style='mso-fareast-font-family:"Times New Roman"'><o:p></o:p></span></h2> <h2 align=center style='text-align:center'><span class=SpellE><span style='font-family:Verdana;mso-fareast-font-family:"Times New Roman"; color:#000066'>Programme</span></span><span style='font-family:Verdana; mso-fareast-font-family:"Times New Roman";color:#000066'> de travail</span><span style='font-family:Verdana;mso-fareast-font-family:"Times New Roman"'><br> <span style='color:#666666'>Work <span class=SpellE>programme</span> </span></span><span style='mso-fareast-font-family:"Times New Roman"'><o:p></o:p></span></h2> <p align=center style='text-align:center'><span style='font-family:Verdana'>Description du <span class=SpellE>programme</span> <span class=SpellE>scientifiquede</span> travail <i style='mso-bidi-font-style:normal'>(1 à 2 pages maximum)<br> <em><span style='font-family:Verdana;color:#666666'>/Description of the scientific work <span class=SpellE>programme</span> (maximum 1 to 2 pages) </span></em></i></span></p> <h3 align=center style='text-align:center'><span style='mso-fareast-font-family: "Times New Roman"'>&nbsp;<o:p></o:p></span></h3> <h2 align=center style='text-align:center'><span class=SpellE><span style='font-family:Verdana;mso-fareast-font-family:"Times New Roman"; color:#000066'>Programme</span></span><span style='font-family:Verdana; mso-fareast-font-family:"Times New Roman";color:#000066'> <span class=SpellE>d'échanges</span> avec budget <span class=SpellE>prévisionnel</span></span><span style='mso-fareast-font-family:"Times New Roman"'><br> </span><span style='font-family:Verdana;mso-fareast-font-family:"Times New Roman"; color:#666666'>Exchanges schedule and estimated budget </span><span style='mso-fareast-font-family:"Times New Roman"'><o:p></o:p></span></h2> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt; mso-bidi-font-size:10.0pt;font-family:Verdana;color:#990033'>1.</span></b><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt;mso-bidi-font-size: 10.0pt;font-family:Verdana'> <span class=SpellE><span style='color:#990000'>Echanges</span></span></span></b><span style='font-size:13.5pt;mso-bidi-font-size:10.0pt;font-family:Verdana'> <span style='color:#663333'>/ Exchanges <o:p></o:p></span></span></p> <p class=MsoNormal><br> <span style='font-family:Verdana;color:#666666'>/ Describe the incoming and outgoing exchanges planned: invitations of researchers from the partner institution in France, and missions of INRIA researchers abroad:</span> <span style='font-family:Verdana;color:#666666'><o:p></o:p></span></p> <p><o:p>&nbsp;</o:p></p> <p><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"'>Next year we plan the following agenda:<o:p></o:p></span></p> <p style='text-align:justify'><span style='font-size:12.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman"'>- 2012 April: visit of Pr. O. <span class=SpellE>Khatib</span> for 1 week, discussions, <span class=GramE>exchange</span>. <o:p></o:p></span></p> <p style='text-align:justify'><span style='font-size:12.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman"'>- 2012 April: visit of <span class=SpellE>Emel</span> <span class=SpellE>Demircan</span> (PhD Student, Stanford University) to Montpellier for 2,5 weeks to work on identification and control. <o:p></o:p></span></p> <p style='text-align:justify'><i style='mso-bidi-font-style:normal'><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family:"Times New Roman"'>- </span></i><span style='font-size:12.0pt;font-family:Arial;mso-bidi-font-family: "Times New Roman"'>2012 September: Visit of M. <span class=SpellE>Hayashibe</span> for 2,5 weeks to work on identification.<o:p></o:p></span></p> <p style='text-align:justify'><span style='font-size:12.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman"'>- 2012 September: visit of Alejandro Gonzales (PhD Student) for 2,5 weeks to work on control for paraplegic patient. <o:p></o:p></span></p> <p style='text-align:justify'><span style='font-size:12.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman"'>- 2012 October: visit of P. <span class=SpellE>Fraisse</span> for 1 week to work on control and to assess the collaboration as well as the future of the <span class=SpellE>Demar</span>-Stanford cooperation.<o:p></o:p></span></p> <p style='text-align:justify'><span style='font-size:12.0pt;font-family:Arial; mso-bidi-font-family:"Times New Roman"'><o:p>&nbsp;</o:p></span></p> <p><i style='mso-bidi-font-style:normal'><span style='font-family:Verdana'><br> <img border=0 width=25 height=22 id="_x0000_i1031" src="file://localhost/Users/fraisse/Equipes-Asoci%25C3%25A9es:Equipes-Asoci%25C3%25A9es:..:icones:here_rouge.gif"></span></i><span class=SpellE><span style='font-family:Verdana;color:black'>Résumez</span></span><span style='font-family:Verdana;color:black'> <span class=SpellE>ensuite</span> <span class=SpellE>ces</span> <span class=SpellE>informations</span> <span class=SpellE>dans</span> les tableaux 1 et 2 ci-<span class=SpellE>dessous</span> en <span class=SpellE>faisant</span> <span class=SpellE>une</span> estimation <span class=SpellE>budgétaire</span></span><span style='font-family:Verdana'>:</span><br> <span style='font-family:Verdana;color:#666666'>/ Sum up the <span class=SpellE>informations</span> above</span><span style='font-family:Verdana'> <span style='color:#666666'>in this two tables and indicate the estimated budget </span></span></p> <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 width="75%" style='width:75.0%;mso-cellspacing:0cm;mso-yfti-tbllook:1184;mso-padding-alt: 0cm 5.4pt 0cm 5.4pt'> <tr style='mso-yfti-irow:0;mso-yfti-firstrow:yes'> <td width="30%" style='width:30.0%;background:#CCCCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal><span style='font-family:Verdana'>&nbsp;<strong><span style='font-family:Verdana;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>1. ESTIMATION DES D_PENSES EN MISSIONS INRIA VERS LE PARTENAIRE</span></strong><b style='mso-bidi-font-weight:normal'><br> <strong><span style='font-family:Verdana;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;color:#666666'>Estimated spending for missions of INRIA researchers abroad </span></strong></b></span></p> </td> <td width="12%" style='width:12.0%;background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p align=center style='text-align:center'><span class=SpellE><span style='font-family:Verdana'>Nombre</span></span><span style='font-family: Verdana'> de <span class=SpellE>personnes</span><br> <span style='color:#666666'>Number of persons</span></span> </p> </td> <td width="25%" style='width:25.0%;background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p align=center style='text-align:center'><span class=SpellE><span style='font-family:Verdana'>Coût</span></span><span style='font-family:Verdana'> <span class=SpellE>estimé</span><br> <span style='color:#666666'>Estimated cost </span></span></p> </td> </tr> <tr style='mso-yfti-irow:1'> <td style='background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal><span class=SpellE><span style='font-family:Verdana'>Chercheurs</span></span><span style='font-family:Verdana'> <span class=SpellE>confirmés</span><br> <span style='color:#666666'>Senior researcher </span></span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;2</p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;7ke</p> </td> </tr> <tr style='mso-yfti-irow:2'> <td style='background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p><span style='font-family:Verdana'>Post-<span class=SpellE>doctorants</span><br> <span style='color:#666666'>Postdoctoral fellow </span></span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'></td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;</p> </td> </tr> <tr style='mso-yfti-irow:3'> <td style='background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal><span class=SpellE><span style='font-family:Verdana'>Doctorants</span></span><span style='font-family:Verdana'><br> <span style='color:#666666'>PhD student</span> </span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>1</p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;3ke</p> </td> </tr> <tr style='mso-yfti-irow:4'> <td style='background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p><span class=SpellE><span style='font-family:Verdana'>Stagiaires</span></span><span style='font-family:Verdana'> </span><br> <span style='font-family:Verdana;color:#666666'>Intern</span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;-</p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;</p> </td> </tr> <tr style='mso-yfti-irow:5'> <td style='background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal><span class=SpellE><span style='font-family:Verdana'>Autre</span></span><span style='font-family:Verdana'> (<span class=SpellE>précisez</span><span class=GramE>) :</span><br> <span style='color:#666666'>Other (detail): </span></span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;-</p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;</p> </td> </tr> <tr style='mso-yfti-irow:6;mso-yfti-lastrow:yes'> <td style='border:inset white 1.0pt;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal align=right style='text-align:right'><span style='font-family:Verdana;color:#CCCCCC'>&nbsp;&nbsp;</span> <strong><span style='font-family:Verdana;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>Total</span></strong></p> </td> <td style='border:inset #CCCCCC 1.0pt;background:#CCFFFF;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;4</p> </td> <td style='border:inset #CCCCCC 1.0pt;background:#CCFFFF;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;10ke</p> </td> </tr> </table> <p>&nbsp;</p> <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 width="75%" style='width:75.0%;mso-cellspacing:0cm;mso-yfti-tbllook:1184;mso-padding-alt: 0cm 5.4pt 0cm 5.4pt'> <tr style='mso-yfti-irow:0;mso-yfti-firstrow:yes'> <td width="30%" style='width:30.0%;background:#CCCCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal><span style='font-family:Verdana'>&nbsp;<strong><span style='font-family:Verdana;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>2. ESTIMATION DES D_PENSES EN INVITATIONS DES PARTENAIRES</span></strong><b style='mso-bidi-font-weight:normal'><br> <strong><span style='font-family:Verdana;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;color:#666666'>Estimated spending for invitations of Partner researchers in France </span></strong></b></span></p> </td> <td width="12%" style='width:12.0%;background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal align=center style='text-align:center'><span class=SpellE><span style='font-family:Verdana'>Nombre</span></span><span style='font-family: Verdana'> de <span class=SpellE>personnes</span></span><br> <span style='font-family:Verdana;color:#666666'>Number of persons</span></p> </td> <td width="25%" style='width:25.0%;background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal align=center style='text-align:center'><span class=SpellE><span style='font-family:Verdana'>Coût</span></span><span style='font-family:Verdana'> <span class=SpellE>estimé</span></span><br> <span style='font-family:Verdana;color:#666666'>Estimated cost </span></p> </td> </tr> <tr style='mso-yfti-irow:1'> <td style='background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal><span class=SpellE><span style='font-family:Verdana'>Chercheurs</span></span><span style='font-family:Verdana'> <span class=SpellE>confirmés</span><br> <span style='color:#666666'>Senior researcher </span></span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;1</p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;3ke</p> </td> </tr> <tr style='mso-yfti-irow:2'> <td style='background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal><span style='font-family:Verdana'>Post-<span class=SpellE>doctorants</span><br> <span style='color:#666666'>Postdoctoral fellow </span></span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;</p> </td> <td style='padding:.75pt .75pt .75pt .75pt'></td> </tr> <tr style='mso-yfti-irow:3'> <td style='background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal><span class=SpellE><span style='font-family:Verdana'>Doctorants</span></span><span style='font-family:Verdana'><br> <span style='color:#666666'>PhD student</span></span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;1</p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;3ke</p> </td> </tr> <tr style='mso-yfti-irow:4'> <td style='background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p><span class=SpellE><span style='font-family:Verdana'>Stagiaires</span></span><span style='font-family:Verdana'><br> <span style='color:#666666'>Intern</span></span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;-</p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;</p> </td> </tr> <tr style='mso-yfti-irow:5'> <td style='background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal><span class=SpellE><span style='font-family:Verdana'>Autre</span></span><span style='font-family:Verdana'> (<span class=SpellE>précisez</span><span class=GramE>) :</span><br> <span style='color:#666666'>Other (detail): </span></span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;-</p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;</p> </td> </tr> <tr style='mso-yfti-irow:6;mso-yfti-lastrow:yes'> <td style='border:inset white 1.0pt;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal align=right style='text-align:right'><span style='font-family:Verdana;color:#CCCCCC'>&nbsp;&nbsp;</span> <strong><span style='font-family:Verdana;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>Total</span></strong></p> </td> <td style='border:inset #CCCCCC 1.0pt;background:#CCFFFF;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;3</p> </td> <td style='border:inset #CCCCCC 1.0pt;background:#CCFFFF;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;6ke</p> </td> </tr> </table> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt; mso-bidi-font-size:10.0pt;font-family:Verdana;color:#990033'>2.</span></b><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt;mso-bidi-font-size: 10.0pt;font-family:Verdana'> <span class=SpellE><span style='color:#990000'>Cofinancement</span></span></span></b><span style='font-size:13.5pt;mso-bidi-font-size:10.0pt;font-family:Verdana'> <span style='color:#663333'>/ <span class=SpellE>Cofinancing</span> </span></span></p> <p><span style='font-size:13.5pt;mso-bidi-font-size:10.0pt;font-family:Verdana; color:#666666'><o:p>&nbsp;</o:p></span></p> <p style='text-align:justify'><span style='font-size:12.0pt;font-family:Verdana'>This collaboration is today only supported by INRIA. We plan to submit this year a proposal to get a co-financing support (ANR, PUF or NIH).<o:p></o:p></span></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-family:Verdana; color:#990033'><o:p>&nbsp;</o:p></span></b></p> <p><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt; mso-bidi-font-size:10.0pt;font-family:Verdana;color:#990033'>3.</span></b><b style='mso-bidi-font-weight:normal'><span style='font-size:13.5pt;mso-bidi-font-size: 10.0pt;font-family:Verdana'> <span class=SpellE><span style='color:#990000'>Demande</span></span><span style='color:#990000'> <span class=SpellE>budgétaire</span></span></span></b><span style='font-size:13.5pt;mso-bidi-font-size:10.0pt'> </span><span style='font-size:13.5pt;mso-bidi-font-size:10.0pt;font-family:Verdana; color:#663333'>/ Proposed budget</span><span style='font-size:12.0pt; mso-bidi-font-size:10.0pt;font-family:Verdana;color:#663333'> </span></p> <p style='text-align:justify'><span class=SpellE><span class=GramE><span style='font-family:Verdana'>Indiquez</span></span></span><span class=GramE><span style='font-family:Verdana'>, <span class=SpellE>dans</span> le tableau ci-<span class=SpellE>dessous</span>, le <span class=SpellE>coût</span> global <span class=SpellE>estimé</span> de <span class=SpellE>votre</span> <span class=SpellE>projet</span> et le budget <span class=SpellE>demandé</span> à la DRI <span class=SpellE>dans</span> le cadre de <span class=SpellE>cette</span> <span class=SpellE>Equipe</span> <span class=SpellE>Associée</span> (maximum 20 K¬ ).</span></span></p> <p><span style='font-family:Verdana'>Avant de <span class=SpellE>remplir</span> le tableau, <span class=SpellE>consultez</span> les <span class=SpellE>règles</span> au <span class=SpellE>paragraphe</span> &quot;<span class=SpellE>Financement</span>&quot; de la <a href="http://www-direction.inria.fr/international/Page_Programmes.php?prog=ea">page <span class=SpellE>d'accueil</span> du <span class=SpellE>programme</span></a>. </span></p> <p><span style='font-family:Verdana;color:#666666'>/ Fill in the table below with your project's global estimated budget (A), other sources of funding (B), and the contribution asked from INRIA International Affairs Department under the Associate Team <span class=SpellE>Programme</span> (A - B).<br> Please refer first to the funding conditions stated in the &quot;funding&quot; paragraph of the <a href="http://www-direction.inria.fr/international/Page_Programmes_en.php?prog=ea">Associate Team <span class=SpellE>programme</span> presentation</a></span>.</p> <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 width="76%" style='width:76.0%;mso-cellspacing:0cm;mso-yfti-tbllook:1184;mso-padding-alt: 0cm 5.4pt 0cm 5.4pt'> <tr style='mso-yfti-irow:0;mso-yfti-firstrow:yes'> <td width="79%" style='width:79.0%;background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal align=center style='text-align:center'><span class=SpellE><b style='mso-bidi-font-weight:normal'><span style='font-family:Verdana'>Commentaires</span></b></span></p> </td> <td width="21%" style='width:21.0%;background:#99CCCC;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal align=center style='text-align:center'><span class=SpellE><b style='mso-bidi-font-weight:normal'><span style='font-family:Verdana'>Montant</span></b></span></p> </td> </tr> <tr style='mso-yfti-irow:1'> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span style='font-family:Verdana'>A.</span></b><span style='font-family:Verdana'> <span class=SpellE>Coût</span> global de la proposition (<i style='mso-bidi-font-style: normal'>total des tableaux 1 et 2: invitations, missions<span class=GramE>, ...</span></i>)<br> <span style='color:#666666'>A. Global cost of the collaboration project </span></span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;16000¬ </p> </td> </tr> <tr style='mso-yfti-irow:2'> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span style='font-family:Verdana'>B.</span></b><span style='font-family:Verdana'> <span class=SpellE>Cofinancements</span> <span class=SpellE>utilisés</span> (<span class=SpellE><i style='mso-bidi-font-style:normal'>financements</i></span><i style='mso-bidi-font-style:normal'> <span class=SpellE>autres</span> <span class=SpellE>que</span> <span class=SpellE>Equipe</span> <span class=SpellE>Associée</span></i>): from EADS project.<br> <span style='color:#666666'>B. <span class=SpellE>Cofinancing</span> (other than Associate Team program)</span> </span></p> </td> <td style='padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;5000¬ </p> </td> </tr> <tr style='mso-yfti-irow:3;mso-yfti-lastrow:yes'> <td style='background:#CCFFFF;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal align=right style='text-align:right'><span class=SpellE><strong><span style='font-family:Verdana;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font: minor-bidi'>Financement</span></strong></span><strong><span style='font-family: Verdana;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi'> &quot;_<span class=SpellE>quipe</span> <span class=SpellE>Associ_e</span>&quot; demand_ (A<span class=GramE>.-</span>B.)</span></strong><b style='mso-bidi-font-weight: normal'><span style='font-family:Verdana'><br> <strong><span style='font-family:Verdana;mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;color:#666666'>Funding from the Associate Team <span class=SpellE>programme</span> </span></strong></span></b><span style='font-family:Verdana'><br> (maximum 20 000 ¬ ) </span></p> </td> <td style='background:#CCFFFF;padding:.75pt .75pt .75pt .75pt'> <p class=MsoNormal>&nbsp;11000¬ </p> </td> </tr> </table> <p>&nbsp;</p> <p>&nbsp;</p> <p class=MsoNormal align=center style='text-align:center'><span style='font-family:Verdana;color:#666666'>_ INRIA - <span class=SpellE>mise</span> _ jour le 17/09/2009</span></p> </div> </body> </html>