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

基本信息

批准号：
2020009
负责人：
Panagiotis Artemiadis
金额：
$ 59.15万
依托单位：
University of Delaware
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：
2019-03-01 至 2024-12-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2020009&HistoricalAwards=false
关键词：
PFI BIC ASPIRE hierArchical control

项目摘要

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.

运动是最重要的人类功能之一，具有生存，进步和相互作用。有200万美国人生活在截肢上，大多数截肢都是下肢。尽管当前的动力假肢可以容纳步行，并且在某些情况下运行，但基本功能（如在各种非刚性或动态地形上行走）是尚未满足的要求。该项目的目的是开发和测试一个智能动力的脚踝假体，以支持实际活动的流动性。该智能服务系统将能够识别并适应动态的步行环境。基于板载感应和截肢者残留肌肉的激活，它将适应其特征，以便在不同的环境之间行走（例如混凝土，沥青，草，砾石，砾石，松散的沙子），为截肢者提供强大的步行和平衡。从该项目获得的科学和技术理解的好处可以超越假体，而在援助和康复的情况下与人类相互作用的机器。合作伙伴关系的多学科专业知识，包括工程设计，控制和人为因素工程，为培训所涉及的学生提供了独特的环境，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。但是，研究表明，在可变和动态地形上行走可能是现实生活中非常重要的一部分。在人步行中看到的智力水平的表现能力对于推动下肢假肢的当前最新技术是必要的。该协作提案旨在研究促进人类步行中固有的适应性智力的层次结构过程，并利用这些知识来开发一种变革性的最先进的脚踝假体。通过通过涉及的下肢肌肉的肌电图信号踏上不同依从性的表面时，通过分析踝关节动力学的预期和反应性机制，这项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脚踝伪装的层级控制器的设计中，该计划将增强对先进的脚踝脚踝假体的技术理解，从而使环境适应环境，目前是最不可能的。