PFI:BIC - ASPIRE: hierArchical control of a Smart ankle-foot Prosthesis that supports Increased mobility for REal-life activities

PFI：BIC - ASPIRE：智能踝足假肢的分层控制，支持增加现实生活活动的活动能力

• 批准号: 1718114
• 负责人: Panagiotis Artemiadis
• 金额: $ 100万
• 依托单位: Arizona State 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 2020-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1718114&HistoricalAwards=false
• 关键词: PFI; BIC; ASPIRE; hierArchical; control

Locomotion is one of the most important human functions, serving survival, progress, and interaction. There are 2 million Americans living with an amputation and the majority of those amputations are of the lower limbs. Although current powered prostheses can accommodate walking, and in some cases running, basic functions like walking on various non-rigid or dynamic terrains are requirements that have yet to be met. The goal of this project is to develop and test a smart powered ankle-foot prosthesis that supports increased mobility for real-life activities. This smart service system will be able to identify and adapt to dynamic walking environment. Based on on-board sensing and the activations of the amputee's residual muscles, it will adapt its characteristics to allow for walking among different environments (e.g. concrete, asphalt, grass, gravel, loose sand) providing robust walking and balance to the amputee. The benefits of the acquired scientific and technological understanding from this project can extend beyond prostheses, to machines that interact with humans in cases of assistance and rehabilitation. The partnership's multidisciplinary expertise including engineering design, controls and human factors engineering, provides a unique environment for training of the students involved, and fosters an innovation culture in the next generation of researchers. State-of-the-art lower limb prostheses provide reasonable solutions for walking over constant terrain; however, studies show that walking on variable and dynamic terrain may account for a very significant part of real-life functions. The ability to adapt performance at a level of intelligence seen in human walking is necessary to advance the current state-of-the art of lower limb prosthetic devices. This collaborative proposal aims to study the hierarchical processes contributing to the adaptive intelligence inherent in human walking, and to use that knowledge to develop a transformative state-of-the-art ankle-foot prosthesis. By analyzing the anticipatory and reactive mechanisms of the ankle dynamics when stepping on surfaces of different compliance, via the electromyographic signals of the involved lower limb muscles, this research is expected to enhance the scientific understanding of the control of ankle dynamics. Moreover, by incorporating these principles into the design of a hierarchical controller for a smart ankle-foot prosthesis, this program will enhance the technological understanding of advanced powered ankle-foot prosthesis that enables adaptation to the environment, currently not possible by the state-of-the-art prostheses.

运动是人类最重要的功能之一，服务于生存、进步和互动。有 200 万美国人需要截肢，其中大部分截肢是下肢。尽管当前的动力假肢可以适应行走，并且在某些情况下可以适应跑步，但尚未满足诸如在各种非刚性或动态地形上行走等基本功能的要求。该项目的目标是开发和测试智能驱动的踝足假肢，以支持增强现实生活活动的灵活性。该智能服务系统将能够识别并适应动态步行环境。基于机载传感和截肢者残余肌肉的激活，它将调整其特性以允许在不同环境（例如混凝土、沥青、草地、砾石、松散沙子）中行走，为截肢者提供稳健的行走和平衡。从该项目中获得的科学和技术理解的好处可以超越假肢，延伸到在援助和康复情况下与人类互动的机器。该合作伙伴关系的多学科专业知识包括工程设计、控制和人因工程学，为相关学生的培训提供了独特的环境，并培养了下一代研究人员的创新文化。最先进的下肢假肢为在恒定地形上行走提供了合理的解决方案；然而，研究表明，在多变和动态的地形上行走可能是现实生活功能中非常重要的一部分。适应人类行走智能水平的性能对于推进下肢假肢装置的当前技术水平是必要的。该合作提案旨在研究有助于人类行走固有的自适应智能的分层过程，并利用这些知识开发一种变革性的最先进的踝足假肢。通过相关下肢肌肉的肌电信号分析踩踏不同顺应性表面时踝关节动力学的预期和反应机制，该研究有望增强对踝关节动力学控制的科学理解。此外，通过将这些原理纳入智能踝足假肢的分层控制器的设计中，该计划将增强对先进动力踝足假肢的技术理解，从而能够适应环境，而这在目前的状态下是不可能的。 -最先进的假肢。

项目成果

Anticipatory muscle responses in transitions from rigid to compliant surfaces: towards smart ankle-foot prostheses

从刚性表面过渡到柔顺表面时的预期肌肉反应：迈向智能踝足假肢

• 发表时间: 2019-01
• 期刊: IEEE International Conference on Rehabilitation Robotics
• 作者: Yumbla, Emiliano Q;Obeng, Ruby A;Ward, Jeffrey;Sugar, Thomas;Artemiadis, Panagiotis
• 通讯作者: Artemiadis, Panagiotis