Neural Control of an Upper Limb Powered Exoskeleton System

上肢动力外骨骼系统的神经控制

• 批准号: 0208468
• 负责人: Jacob Rosen
• 金额: $ 32.04万
• 依托单位: University of Washington
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2002
• 资助国家: 美国
• 起止时间: 2002-09-01 至 2006-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0208468&HistoricalAwards=false
• 关键词: Neural; Control; Upper; Limb; Powered

Integrating humans with their naturally developed control algorithm and robots with their extended capability of applying forces and torques into one system offers multiple opportunities for creating a new generation of assistance technology for both healthy and disabled people suffering from neuromuscular diseases and neuro-degenerative disorders. The exoskeleton is a wearable robotic arm. It is worn by the human as an orthotic device and acts as a human-amplifier allowing the operator natural control of the device as an extension of his/her body while sharing an external load. One of the primary innovative ideas of this research is to set the human machine interface at the muscular level of the human physiological hierarchy using an expression of body's own control command (surface electromyography - sEMG) signals as one of the primary command signals of the exoskeleton for improving the synergy between the operator and the exoskeleton. The goals of this research are to design, build, and experimentally study the integration of a powered exoskeleton controlled by myosignals (sEMG) for the human arm with healthy people. It is anticipated that the scientific activity involved in this research will integrate and fuse multidisciplinary knowledge by promoting dialogues and collaborative work between students and faculty members from different disciplines with a long-term goal of improving the quality of life of the physically disabled community.

将人类与其自然开发的控制算法和机器人及其施加力和扭矩的扩展能力集成到一个系统中，为为患有神经肌肉疾病和神经退行性疾病的健康人和残疾人创造新一代辅助技术提供了多种机会。外骨骼是一种可穿戴的机械臂。它作为矫形装置被人类佩戴，并充当人体放大器，允许操作员自然控制该装置作为他/她身体的延伸，同时分担外部负载。这项研究的主要创新思想之一是利用人体自身控制命令（表面肌电-sEMG）信号的表达作为外骨骼的主要命令信号之一，将人机界面设置在人体生理层次的肌肉层面用于提高操作员和外骨骼之间的协同作用。这项研究的目标是设计、建造和实验研究由肌信号 (sEMG) 控制的动力外骨骼，用于人类手臂与健康人的集成。预计这项研究涉及的科学活动将通过促进不同学科的学生和教师之间的对话和协作来整合和融合多学科知识，以提高身体残疾人社区的生活质量为长期目标。