NRI: INT: COLLAB: Anthropomorphic Robotic Ankle Prosthesis with Programmable Materials

NRI：INT：COLLAB：采用可编程材料的拟人机器人踝关节假体

• 批准号: 2025797
• 负责人: Panagiotis Artemiadis
• 金额: $ 74.16万
• 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: 2019-08-12 至 2024-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2025797&HistoricalAwards=false
• 关键词: NRI; INT; COLLAB; Anthropomorphic; Robotic

There are currently 2 million Americans living with an amputation; the majority of those amputations are of the lower limbs. Leg amputation is a significant life-altering event that has an overwhelmingly negative effect on many aspects of life, even years after the injury. Leg amputation can cost in excess of $1.8 million per individual. Most available prostheses are designed to replicate some aspects of normal ankle function during level-ground walking. These prostheses allow many individuals with below-knee amputation to return to basic daily activities. However, these devices are best suited for level-ground walking and many users experience difficulties during other important tasks, such as walking on slopes, stairs, or different terrains. Therefore, the general aim of this project is to address this gap in the design of existing powered ankle-foot prostheses by enabling new prosthetics that adapt to different environmental conditions commonly found in daily life. The proposed ankle-foot mechanism significantly enhances the customizability of lower leg-powered prostheses by introducing a new design approach. This project will study how the human ankle stiffness changes during different walking scenarios. The research team will use this information to design a powered ankle-foot prosthesis with properties more similar to the human ankle. In order to do so, a lightweight and modular prosthesis that uses programmable material will be developed. The modular mechanical design and control approach generates human-like characteristics and enables a larger set of users with different lengths of amputated legs to use this prosthesis. Moreover, the prosthesis' performance will be evaluated during real-world activities in dynamic environments. The focus of this project is on amputees' well-being. The resulting agile ankle foot prosthesis will help amputees improve their physical function, ability to work, and recreation, thus helping individuals return to the activities and quality of life they had prior to injury. The research findings from this project can also be applied to advance functions of exoskeletons, orthotics, and rehabilitation robots. In addition to advancing research, undergraduate and graduate students will be involved in research activities and will receive interdisciplinary education/innovation/outreach experiences. Outreach activities will allow the project team to engage diverse middle and high school students in science and engineering, especially those from underrepresented groups and low-income families. This project plans a new class of customizable agile ankle-foot prosthesis that is modular in design and has its impedance modulation decoupled from its torque control. This will be achieved by equipping a novel and recently developed powered 2-degrees of freedom (DOF) ankle-foot prosthesis with an augmented mechanism built from soft programmable material. The primary outcomes of this project will be a comprehensive understanding of how to 1) reduce the complexity of the control of ankle-foot prostheses, as observed in clinical trials, and 2) enhance prosthesis performance in real-world activities, such as walking and running on surfaces with different profiles, stiffness, and lateral inclinations. The planned work aims to address customizability issues of robotic ankle foot prostheses and address societal impact by improving amputees' quality of life and work. The main goal of this study is to consolidate the impedance control of the ankle to a mechanical module comprised of programmable material to follow the 2-D human ankle impedance. The effort will further integrate the impedance modulation with 2-DOF torque control of the ankle to provide the customizability required for tailoring an agile prosthesis to each user's need in parallel to the torque control tuning. The project researchers hypothesize that real-time control of the two-dimensional ankle impedance in a robotic ankle-foot prosthesis can improve the performance and the agility of the user during walking on surfaces with different profiles, stiffness, and inclinations. The interconnected research thrusts will provide the opportunity to offer a new solution through 1) modeling the ankle dynamics in different gait scenarios, 2) equipping a 2-DOF robotic ankle-foot prosthesis with a programmable material module, and 3) performing extensive evaluation experiments with amputees. Understanding the effect of the control and adaptation of the 2-D ankle impedance during walking with a lower extremity prosthesis will be significantly beneficial for the field of assistive robotics because it can provide guidelines for the design and control of powered prostheses, exoskeletons, and rehabilitation devices. In addition to advancing research, undergraduate and graduate students will be involved in research activities and will receive interdisciplinary education/innovation/outreach experiences. Outreach activities will allow the project team to engage diverse middle and high school students, especially those from underrepresented groups and low-income families. The findings from this project will be disseminated through publications, software sharing, and technology commercialization.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.

目前有 200 万美国人面临截肢；大部分截肢都是下肢截肢。腿部截肢是一种重大的改变生活的事件，即使在受伤多年后，它也会对生活的许多方面产生巨大的负面影响。每人腿部截肢的费用可能超过 180 万美元。大多数可用的假肢旨在复制平地行走时正常踝关节功能的某些方面。这些假肢使许多膝盖以下截肢的人能够恢复基本的日常活动。然而，这些设备最适合平地行走，许多用户在执行其他重要任务时遇到困难，例如在斜坡、楼梯或不同地形上行走。因此，该项目的总体目标是通过开发适应日常生活中常见的不同环境条件的新型假肢，来解决现有动力踝足假肢设计中的这一差距。所提出的踝足机构通过引入新的设计方法显着增强了小腿动力假肢的可定制性。该项目将研究人类脚踝硬度在不同步行场景下如何变化。研究小组将利用这些信息来设计一种动力踝足假肢，其特性更类似于人类踝关节。为此，将开发一种使用可编程材料的轻型模块化假肢。模块化机械设计和控制方法产生了类人特征，并使更多具有不同截肢长度的用户能够使用该假肢。此外，假肢的性能将在动态环境中的真实活动中进行评估。该项目的重点是截肢者的福祉。由此产生的敏捷踝足假肢将帮助截肢者改善他们的身体机能、工作和娱乐能力，从而帮助个人恢复受伤前的活动和生活质量。该项目的研究成果还可应用于提升外骨骼、矫形器和康复机器人的功能。除了推进研究之外，本科生和研究生还将参与研究活动，并获得跨学科教育/创新/推广经验。外展活动将使项目团队能够吸引不同的中学生和高中生参与科学和工程领域的学习，特别是那些来自代表性不足的群体和低收入家庭的学生。该项目计划开发一种新型可定制敏捷踝足假肢，该假肢采用模块化设计，其阻抗调制与扭矩控制分离。这将通过为一种新颖的、最近开发的动力2自由度（DOF）踝足假肢配备由软可编程材料制成的增强机构来实现。该项目的主要成果将是全面了解如何：1）降低踝足假肢控制的复杂性（如临床试验中观察到的那样）；2）增强假肢在现实世界活动中的性能，例如步行和行走。在具有不同轮廓、刚度和横向倾斜度的表面上运行。计划的工作旨在解决机器人踝足假肢的可定制性问题，并通过改善截肢者的生活和工作质量来解决社会影响。本研究的主要目标是将脚踝的阻抗控制整合到由可编程材料组成的机械模块中，以遵循二维人体脚踝阻抗。这项工作将进一步将阻抗调制与脚踝的 2-DOF 扭矩控制相结合，以提供根据每个用户的需求定制敏捷假肢所需的可定制性，同时进行扭矩控制调整。该项目研究人员假设，实时控制机器人踝足假体中的二维踝关节阻抗可以提高用户在不同轮廓、刚度和倾斜度的表面上行走时的性能和敏捷性。相互关联的研究重点将提供通过以下方式提供新解决方案的机会：1）对不同步态场景中的踝关节动力学进行建模，2）为 2 自由度机器人踝足假肢配备可编程材料模块，以及 3）进行广泛的评估实验与截肢者。了解下肢假肢行走过程中二维踝关节阻抗的控制和适应效果对于辅助机器人领域将非常有益，因为它可以为动力假肢、外骨骼和康复的设计和控制提供指导设备。除了推进研究之外，本科生和研究生还将参与研究活动，并获得跨学科教育/创新/推广经验。外展活动将使项目团队能够吸引不同的初中和高中学生，特别是来自代表性不足群体和低收入家庭的学生。该项目的研究结果将通过出版物、软件共享和技术商业化进行传播。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain

一步单边刚度扰动下 3D 双滑移模型的鲁棒动态行走：在顺应地形上实现双足运动

• DOI: 10.1109/med54222.2022.9837236
• 发表时间: 2022-08
• 期刊: Proceedings of Mediterranean Conference on Control and Automation
• 作者: Karakasis, Chrysostomos;Poulakakis, Ioannis;Artemiadis, Panagiotis
• 通讯作者: Artemiadis, Panagiotis

Real-time kinematic-based detection of foot-strike during walking

基于运动学的步行过程中足部触地的实时检测

• DOI: 10.1016/j.jbiomech.2021.110849
• 发表时间: 2021-12
• 期刊: Journal of Biomechanics
• 影响因子: 2.4
• 作者: Karakasis, Chrysostomos;Artemiadis, Panagiotis
• 通讯作者: Artemiadis, Panagiotis

A review of soft wearable robots that provide active assistance: Trends, common actuation methods, fabrication, and applications

提供主动协助的软体可穿戴机器人综述：趋势、常见驱动方法、制造和应用

• DOI: 10.1017/wtc.2020.4
• 发表时间: 2020-09-14
• 期刊: Wearable Technologies
• 作者: Carly M. Thalman;P. Artemiadis
• 通讯作者: P. Artemiadis

Using robot-assisted stiffness perturbations to evoke aftereffects useful to post-stroke gait rehabilitation

使用机器人辅助的刚度扰动来引起对中风后步态康复有用的后遗症

• DOI: 10.3389/frobt.2022.1073746
• 发表时间: 2023-01
• 期刊: Frontiers in Robotics and AI
• 影响因子: 3.4
• 作者: Chambers, Vaughn;Artemiadis, Panagiotis
• 通讯作者: Artemiadis, Panagiotis

Tunable, Textile-Based Joint Impedance Module for Soft Robotic Applications

适用于软机器人应用的可调谐、基于纺织品的关节阻抗模块

• DOI: 10.1089/soro.2021.0173
• 发表时间: 2023-01
• 期刊: Soft Robotics
• 影响因子: 7.9
• 作者: O'Neill, Ciarán T.;Young, Harrison T.;Hohimer, Cameron J.;Proietti, Tommaso;Rastgaar, Mo;Artemiadis, Panagiotis;Walsh, Conor J.
• 通讯作者: Walsh, Conor J.