SBIR Phase I: A High-Force-Fidelity and Compact Actuator for an Upper-Body Exoskeletal Rehabilitation Robot

SBIR 第一阶段：用于上身外骨骼康复机器人的高力保真度紧凑型执行器

• 批准号: 1721941
• 负责人: Bongsu Kim
• 金额: $ 22.5万
• 依托单位: LinkDyn Robotics Inc.
• 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 2018-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1721941&HistoricalAwards=false
• 关键词: SBIR; Phase; Force; Fidelity; Compact

The broader impact/commercial potential of this project is significant. The compact and torque-controllable proposed actuator will prompt the development of a highly-potential upper-body exoskeletal rehabilitation robot that support a wide range of motion with an anatomical mobility and impedance-based dynamic behaviors. The high-performed exoskeleton will allow to implement contemporary therapeutic trainings based on neurological motor learning principles. This would enhance the efficacy of robotic rehabilitation leading to better recovery after neuromuscular injuries. Therefore, rehabilitation robots powered by the proposed actuator will be better accepted to physical rehabilitation market and bring a significant commercial impact. Ultimately, this project will contribute to reduction of socio-economic costs caused by neuromuscular impairments. Also, exoskeletons powered by the proposed actuator would contribute to better understanding of neurobehavioral principle of human body by serving as an experimental tool that creates force-based human-robot interactions with anatomical movements.This Small Business Innovation Research (SBIR) Phase I project will focus on developing a compact rotary-type series elastic actuators (SEAs) for upper-body exoskeleton application. A substantial portion of the US population suffers from neuromuscular impairments, requiring intensive rehabilitation services. Robotic rehabilitation has been attracting attention from many sectors because of the potential for better rehabilitation outcome. However, the lack of anatomical shoulder mobility and compliant dynamic control in existing upper-body exoskeletons limits the capability to produce neurologically-based therapeutic behaviors. The proposed SEAs will help to overcome the limitation by enabling exoskeletons to have force and impedance-based behaviors for advanced rehabilitation protocols. Its compact form factor will benefit the linkage design of exoskeletons for a wide range of motion and anatomical mobility. Also, the SEAs with the tight configuration and high torque/power capacity will provide a high flexibility in a variety of robot designs contributing to advances of general robotic technology.

该项目的更广泛的影响/商业潜力很大。紧凑型和扭矩可控的执行器将促使发展高电位的上半身外骨骼康复机器人，该机器人以解剖学迁移率和基于阻抗的动态行为支持广泛的运动。高性能的外骨骼将允许基于神经运动学习原理实施当代治疗培训。这将增强机器人康复的功效，从而在神经肌肉损伤后更好地恢复。因此，由拟议执行者提供支持的康复机器人将更好地接受身体康复市场，并带来重大的商业影响。最终，该项目将有助于降低由神经肌肉障碍引起的社会经济成本。此外，由提议的执行器提供动力的外骨骼将通过作为一种实验工具来更好地理解人体神经行为原理，该工具可以创建基于力量的人类机器人与解剖学运动的相互作用。这一小型企业创新研究（SBIR）I阶段项目将着重于开发Compact Compact Retact rotaration formator-type sepplace extrastic Elastic forportic forportic foreaster-seas foreaster（SBIR）。美国人口中很大一部分患有神经肌肉障碍，需要密集的康复服务。机器人康复一直吸引了许多部门的关注，因为有可能获得更好的康复结果。然而，现有上体外骨骼中缺乏解剖学肩部迁移率和符合性的动态控制限制了产生基于神经学的治疗行为的能力。拟议的海洋将通过使外骨骼具有高级康复方案的基于武力和基于阻抗的行为来帮助克服限制。它的紧凑型外形将受益于外骨骼的连锁设计，以实现广泛的运动和解剖迁移率。此外，具有紧密配置和高扭矩/功率容量的海洋将在各种机器人设计中具有很高的灵活性，这有助于一般机器人技术的进步。