PFI: AIR-TT: Preflex versus Reflex Control of a Multijoint Robotic Exoskeleton

PFI：AIR-TT：多关节机器人外骨骼的预反射与反射控制

• 批准号: 1701230
• 负责人: Kiisa Nishikawa
• 金额: $ 19.99万
• 依托单位: Northern Arizona University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-07-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1701230&HistoricalAwards=false
• 关键词: PFI; AIR; TT; Preflex; versus

This PFI: AIR Technology Translation project focuses on translating a bio-inspired algorithm, based on a transformative new theory of muscle contraction, to develop safer, faster, and more maneuverable robotic exoskeletons. The bio-inspired control algorithm seeks to address significant challenges that remain in the control and development of robotic assistive devices despite recent technological advances.  The project will result in a robust control algorithm for active ankle actuation using a lower limb exoskeleton as a platform. This control algorithm has demonstrated high potential to provide robust control of ankle torque and power while walking on varied terrain. The benefits of a robust exoskeleton with ankle actuation include improved standing postural balance, increased walking speed, and improved maneuvering over varied terrain for in-home gait rehabilitation in persons with spinal cord injury when compared to the leading competing lower extremity exoskeletons in this market space.  As it translates research discovery to commercial application, this project addresses the need for lower extremity exoskeletons with active ankle actuation. The ankle joint plays a critical role in whole-body stability and forward propulsion during walking, yet no exoskeletons currently available on the market have ankle actuation or the stability and robustness required for independent and effective function at home and in the community. These limitations affect quality of life for individuals that rely on mobility assistance by hindering participation in daily activities and maintenance of physical fitness. In this project, a bio-inspired algorithm will be used to control active actuation at the ankle joints, in addition to actuation at the knee and hip joints, to explore leg coordination in standing balance, walking speed, and ambulation over complex terrain. The project will test whether the algorithm is sufficient for control of coordinated multi-joint movement, or alternatively whether reflex feedback control is also required. Personnel involved in this project, including undergraduate and graduate students, will participate in innovation, entrepreneurship, and technology translation experiences through specialized research and coursework at Northern Arizona University, as well as business and engineering internships at Ekso Bionics, Inc.In this project, Ekso Bionics, Inc. will provide a lower extremity exoskeleton and test environment for implementation of the bio-inspired control algorithm in this technology translation effort from research discovery toward commercial reality.

该PFI：空气技术翻译项目的重点是基于一种基于变革性的肌肉收缩理论来翻译生物启发的算法，以开发更安全，更快且更多可操作的机器人外骨骼。生物启发的控制算法认为，在技术进步之前，在机器人辅助设备的控制和开发中仍然存在重大挑战。该项目将使用下肢外骨骼作为平台，为活动踝关节激活而产生可靠的控制算法。该控制算法表现出很高的潜力，可以在各种地形上行走时提供对踝关节扭矩和功率的强大控制。与脊髓损伤的人相比，与脊髓损伤的患者相比，强大的外骨骼具有良好的外骨骼的好处包括提高站立姿势平衡，提高步行速度，并改善了各种地形，以便在脊髓损伤的患者中进行内部步态康复。当它将研究发现转化为商业应用时，该项目解决了对下肢外骨骨骼具有主动踝关节的需求。踝关节在步行过程中在全身稳定性和前向推进中起着至关重要的作用，但是目前市场上目前没有外骨骼具有踝关节驱动，或者在国内和社区中独立有效的功能所需的稳定性和稳健性。这些局限性会影响依靠流动性援助的个人生活质量，从而阻碍了日常活动和维持身体健康的参与。在该项目中，除了在膝盖和髋关节上激活外，还将使用生物启发的算法来控制脚踝关节的主动激活，以探索站立平衡，步行速度和在复杂地形上的行走速度的腿部配位。该项目将测试该算法是否足以控制协调的多关节运动，或者是否还需要反射反馈控制。参与该项目的人员，包括本科生和研究生，将通过亚利桑那大学北部大学的专业研究和课程以及EKSO Bionics的商业和工程实习来参加创新，企业家精神和技术翻译经验从研究发现到商业现实的技术翻译工作。