NRI: INT: MiaPURE (Modular, Interactive and Adaptive Personalized Unique Rolling Experience)

NRI：INT：MiaPURE（模块化、交互式和自适应个性化独特滚动体验）

基本信息

批准号：
2024905
负责人：
Elizabeth Hsiao-Wecksler
金额：
$ 149.95万
依托单位：
University of Illinois at Urbana-Champaign
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2020
资助国家：
美国
起止时间：
2020-10-01 至 2024-09-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2024905&HistoricalAwards=false
关键词：
NRI INT MiaPURE Modular Interactive

项目摘要

Wheelchair design is essentially a chair supported between two large drive wheels with one or more casters and has changed little since the first U.S. patent awarded in 1869. Globally, the World Health Organization reports that approximately 65 million people need a wheelchair. The 2010 U.S. Census indicated that there were 3.6 million wheelchair users over the age of 15 in the U.S. Limitations exist to current manual wheelchair design. Notably, daily manual chair propulsion contributes to long-term overuse injuries to shoulders and wrists, and because the hands are occupied with propulsion, access to life experiences such as holding a loved one’s hand on a walk are compromised. Other life experiences remain largely inaccessible as well, such as easily and safely navigating a variety of outdoor terrains without risk of falling (gravel, rocks, grass, sand, snow) and accessing tight spaces such as restroom stalls and airplane aisles. Powered wheelchairs address some of these limitations; however, they are heavy and large, which also limit use in tight spaces and require ramp/lift-equipped vehicles for transport. Most wheelchair users with sufficient upper limb functionality will not use powered wheelchairs due to their substantial weight, runtime limitations, larger size, and greater cost. A disruptive approach for achieving the rolling mobility of people with lower-limb disability is needed. This project envisions breaking the mold of the traditional wheelchair through exploration of a safe, compact, adaptive ball-based robot (ballbot), where the rider sits on a sleek modular robot that is driven by a single large ball. Robot movement and speed are managed hands-free by gently leaning the torso in the desired direction. The use of a single spherical wheel (a ball) allows for unique movement in any direction, or "omnidirectional” movement. Due to the sleek design of the ballbot architecture, the robot’s footprint will be approximately the size of a seated person and the height of a chair. User-centered design and user experience principles will be observed throughout prototype development by incorporating input from focus groups to allow for iterative adjustments. This embodiment creates an ideal ubiquitous collaborative human-robot relationship that seamlessly integrates this co-robot into the user's everyday life. This project will also provide educational opportunities to bring design thinking, focused specifically on design for disability, to university courses and high school engineering summer camps. A dedicated Disability Design Maker-Lab will be created within the U.S. Paralympic Training Center at the University of Illinois at Urbana-Champaign to provide these students, and those across the campus, with an immersive and empathic exposure to real-world application and individuals with physical disability.MiaPURE is a Modular, Interactive and Adaptive collaborative robot that will provide a Personalized Unique Rolling Experience for each user. MiaPURE explores a common omnidirectional ballbot platform with multiple human-robot interfaces for modular and adaptive design configurations and input control. The primary goal is to improve upon hardware and control of self-balancing ball-based robots to allow for a safe, compact, and intuitive mobility device for people with lower-limb disability. This riding ballbot will feature omnidirectional, hands-free movement and ability to adapt to users of different sizes and trunk functional ability in a variety of environments. A secondary goal is to exploit modularity to envision easy conversion into a companion robot capable of supporting substantial top-heavy payloads (including up to the weight of an adult human). Both design configurations utilize a common ballbot drivetrain, which will be a sharable testbed allowing others to explore ballbot research questions. Customizable and scalable design needs will be explored to accommodate different users in complex environments. Two input control modes propelling either device configuration will be developed: (1) direct physical interaction (leaning of the torso while riding or pushing/pulling the companion ballbot), and (2) remote commands using an input device (e.g., joystick, gesture control). Advanced driving assistance such as obstacle avoidance and semi-autonomous navigation between predefined indoor locations will also be investigated. Specifically, this project will construct a third-generation prototype. In the first aim, the project will examine issues related to human-robot interfaces to allow for intuitive and organic user interfaces. The second and third aim will address low-level and higher-level robotic control, respectively. The technological approaches explored in this project can be applicable to making a realizable family of ballbots to address a variety of use cases and stakeholders (consumers, healthcare, workforce, and/or defense).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.

轮椅设计本质上是由两个带有一个或多个脚轮的大型驱动轮支撑的椅子，自 1869 年授予第一项美国专利以来几乎没有变化。世界卫生组织报告称，2010 年美国人口普查显示，全球约有 6500 万人需要轮椅。表明美国有 360 万 15 岁以上的轮椅使用者。当前手动轮椅设计存在局限性值得注意的是，日常手动轮椅推进会导致轮椅的使用。长期过度使用会对肩膀和手腕造成伤害，而且由于双手占用了推进力，因此获得生活体验（例如牵着亲人的手散步）也基本上无法获得，例如轻松安全地获得生活体验。在各种户外地形（砾石、岩石、草地、沙子、雪）中航行并进入厕所隔间和飞机过道等狭小空间可以解决其中一些限制，但它们又重又大；还限制在狭小的空间内使用，并且需要配备坡道/升降机的车辆进行运输，大多数具有足够上肢功能的轮椅使用者不会使用电动轮椅，因为它们重量大、运行时间限制、尺寸较大且成本较高。该项目希望通过探索一种安全、紧凑、自适应的球型机器人（ballbot）来打破传统轮椅的模式，让骑手坐在时尚的模块化机器人上。由单个大球驱动的机器人运动和。通过将躯干轻轻倾斜到所需的方向，可以免提控制速度。由于球机器人架构的时尚设计，使用单个球形轮（球）可以在任何方向上进行独特的运动，或“全向”运动。，机器人的占地面积将大约是坐着的人的大小，并且在整个原型开发过程中将遵循以用户为中心的设计和用户体验原则，通过纳入焦点小组的输入以允许迭代调整。理想的无处不在的人机协作关系，将这种协作机器人无缝地融入用户的日常生活中。该项目还将专门提供教育机会，将专注于残疾设计的设计思维引入大学课程和高中工程夏令营。残疾设计创客实验室将在伊利诺伊大学厄巴纳-香槟分校的美国残奥会训练中心内创建，为这些学生以及整个校园的学生提供身临其境和同理心的接触MiaPURE 是一款模块化、交互式和自适应协作机器人，将为每个用户提供个性化的独特滚动体验。MiaPURE 探索了一个通用的全向球机器人平台，具有多个人机界面，用于模块化和自适应设计。主要目标是改进自平衡球型机器人的硬件和控制，为下肢残疾的人提供安全、紧凑和直观的移动设备。 Ballbot 将具有全向、免提移动的特点，能够适应各种环境中不同体型和躯干功能的用户，第二个目标是利用模块化来轻松转换为能够支撑大量头重脚轻的伴侣机器人。两种设计配置都采用通用的球机器人传动系统，这将是一个可共享的测试平台，允许其他人探索球机器人研究问题，以适应不同的用户。将开发两种推动任一设备配置的输入控制模式：(1) 直接物理交互（在骑行或推/拉配套球机器人时倾斜躯干），以及 (2) 使用输入设备进行远程命令（例如，还将研究先进的驾驶辅助，例如避障和预定义室内位置之间的半自动导航。具体来说，该项目将构建第三代原型。该项目将研究相关问题。到第二个和第三个目标将分别解决低级和高级机器人控制问题，该项目探索的技术方法可用于制造可实现的球机器人系列。解决各种用例和利益相关者（消费者、医疗保健、劳动力和/或国防）。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力优点和更广泛的影响审查标准进行评估，被认为值得支持。