SBIR Phase II: Force And Impedance-Based Exoskeleton Robots For Seamless Assistance And Neurologically Sound Rehabilitation

SBIR 第二阶段：基于力和阻抗的外骨骼机器人，用于无缝协助和神经康复

• 批准号: 1853183
• 负责人: Bongsu Kim
• 金额: $ 75万
• 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: 2019
• 资助国家: 美国
• 起止时间: 2019-04-15 至 2023-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1853183&HistoricalAwards=false
• 关键词: SBIR; Phase; II; Force; Impedance

The broader societal impact/commercial potential of this project centers on improving rehabilitation outcomes for individuals suffering from motor dysfunction due to stroke, spinal cord injury, and other conditions. In the US alone, there are 600,000 new stroke patients each year who rely on conventional one-on-one therapies for recovery. Due to cost and labor limitations they do not receive consistent, frequent, and intensive training needed for full recovery and optimal quality of life. As a result, stroke care guidelines recommend robotic rehabilitation in all care settings. Providing robotic rehabilitation using the proposed exoskeleton robots is a compelling solution for hospitals, rehabilitation centers, and senior living communities. In addition to providing frequent and intensive therapy, the devices can accurately measure patient progress and performance for personalized care. The exoskeletons are also a powerful research tool into effective rehabilitation methods and have the potential to transform the manufacturing sector by providing a solution for industrial processes that are too complex for full automation and too physically demanding for humans. The proposed exoskeleton devices reduce the risk of injury from accidents and overexertion for individuals performing repetitive, high-stress tasks. Additional results include increased productivity and decreased absenteeism and turn-over.This Small Business Innovation Research (SBIR) Phase II project advances the development of exoskeleton robots targeted at rehabilitation. A substantial portion of the US population requires intensive rehabilitation services for neuromuscular impairment. Robotic rehabilitation has attracted attention due to the potential for better patient outcomes. Current robotic solutions lack the anatomical mobility and compliant dynamic behavior to produce neurologically-sound therapeutic behaviors. The proposed project addresses these deficits and will result in exoskeleton robots capable of essential advanced rehabilitation behaviors. During the Phase I project, a high-performance, force-controlled actuator was developed and will be the core component enabling the desired behavior. In this project, the physical structures and control algorithms of the exoskeletons will be designed and built with a focus on dynamic transparency and kinematic compatibility with the human body to capitalize on the capabilities of the actuator. Additionally, the control software will use feedback loops and a visually interactive environment with performance metrics to keep patients engaged.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目的更广泛的社会影响/商业潜力集中在改善由于中风，脊髓损伤和其他状况而导致运动功能障碍的人的康复结果。仅在美国，每年就有60万名新中风患者依靠传统的一对一疗法进行康复。由于成本和劳动力限制，他们没有获得完整康复和最佳生活质量所需的一致，频繁和强化培训。结果，中风护理指南建议在所有护理环境中机器人康复。使用拟议的外骨骼机器人提供机器人康复是针对医院，康复中心和高级居住社区的引人注目的解决方案。除了提供频繁而密集的疗法外，设备还可以准确衡量患者的进度和个性化护理的表现。外骨骼也是一种有效的康复方法的强大研究工具，并有可能通过为工业过程提供解决方案来改变制造业，而工业过程过于复杂，无法完全自动化并且对人类的身体要求过于物理要求。拟议的外骨骼设备减少了执行重复性，高压力任务的个人因事故和过度劳累而受到伤害的风险。其他结果包括提高生产率和旷工和转折的下降。这项小型企业创新研究（SBIR）II期项目推动了针对康复的外骨骼机器人的开发。美国人口中很大一部分需要针对神经肌肉障碍的密集康复服务。机器人康复引起了人们的关注，因为有可能获得更好的患者结局。当前的机器人解决方案缺乏解剖学迁移率和符合性的动态行为，无法产生神经学上的治疗行为。拟议的项目解决了这些缺陷，并将导致能够具有基本先进康复行为的外骨骼机器人。在第一阶段项目中，开发了高性能，力控制的执行器，并将成为实现所需行为的核心组成部分。在这个项目中，将设计和构建外骨骼的物理结构和控制算法，重点是与人体的动态透明度和运动学兼容性，以利用执行器的能力。此外，控制软件将使用反馈循环和具有性能指标的视觉互动环境来保持患者的参与度。该奖项反映了NSF的法定任务，并被认为是值得通过基金会的知识分子优点和更广泛影响的评估来进行评估的支持。