NRI: Integrated Soft Wearable Robotics Technology to Assist Arm Movement of Infants with Physical Impairments

NRI：集成软可穿戴机器人技术，协助身体障碍婴儿的手臂运动

• 批准号: 2133084
• 负责人: Konstantinos Karydis
• 金额: $ 150万
• 依托单位: University of California-Riverside
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-12-01 至 2025-11-30
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2133084&HistoricalAwards=false
• 关键词: NRI; Integrated; Soft; Wearable; Robotics

This National Robotics Initiative (NRI-3.0) project advances soft robotics technology for a new generation of wearable upper extremity (UE) devices for infants with movement impairments. The overarching goal is to infer the infant's intent, evaluate the need for assistance, and when appropriate collaboratively aid the performance of explorative reaching actions. Current pediatric wearable assistive technology lacks the necessary functionality and accessibility to be efficient and adaptive to the user. The project addresses this gap through the discovery and creation of appropriate sensing and control hardware and algorithms for effective infant-robot physical interactions. The project brings together experts from Engineering, Computer Science, Chemistry, and Rehabilitation and poses cross-disciplinary research questions in soft robot design, dynamics and control, computer vision, and embedded systems. The rich set of engaging problems will provide abundant research opportunities for a diverse cohort of undergraduate students. The project integrates existing efforts in K-12 outreach events hosted at the University of California, Riverside (UCR) -- a Hispanic Serving Institution -- to broaden participation of under-represented minority groups.The project investigates real-time, sensor-based closed-loop control for soft wearable robotics targeted to serve as upper extremity (UE) assistive devices. The project advances fundamental engineering knowledge in three ways. 1) Visual sensing for biomechanical applications via lensless cameras, that can take arbitrary shapes and have an ultra-thin form factor that allows seamless integration with soft materials and surfaces. The project develops a new class of visual object recognition and tracking algorithms for use of lensless camera systems in UE assistive devices. 2) Soft fluidic logic circuits to reduce the amount of rigid electronic components required to control and operate pneumatically actuated soft robots. This technique has been shown to be valuable in assistive technology applications where physical interaction with humans is better achieved if the size and weight of the device components remain low. 3) Shared human-robot admittance control, that uses data in real-time to estimate dynamic models for the device and its interaction with the human. The goal is to provide as-needed assistance by autonomously switching between two operating modes: either yielding to the user’s intention, or applying assistive forces to help the user's arm reach the desired object. Overall, this research will create new forms of embodied intelligence to advance the capacity of wearable assistive soft robots to perceive and act in collaboration with a human user.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.

这项国家机器人技术（NRI-3.0）项目推进了新一代可穿戴的上肢的软机器人技术，用于运动障碍的婴儿。缺乏必需品缺乏脖子，这是通过发现和控制有效的婴儿 - 机器人物理互动的特征来解决的从工程学，计算机科学和康复中带来了脚步，并在软机器人设计，动态和控制，计算机视觉和嵌入式系统中提出S-DOBORICAL问题。西班牙裔服务机构在加利福尼亚大学（UCR）举办的K-12外展活动的努力，以扩大代表性不足的少数群体的参与。该项目调查了实时，基于传感器的环路控制，以实现基于传感器的环境柔软的可穿戴机器人（UE）通过三种方式提高了基本工程知识项目开发了一类新的视觉异议和跟踪算法，用于使用UE ASSTIVE CES中的无镜头相机系统2）软化电路，以控制控制和操作气动型演员S. D与人类的互动是通过自动切换两种操作模式来提供所需的援助：要么对用户的进攻，要么应用辅助福克斯。辅助软机器人到机器人的机器人，以感知与IND合作奖的奖励反映了NSF的飞行任务，并通过使用Theda Tion的知识分子优点和更广泛的影响评估标准来评估值得支持。

项目成果

ACD-EDMD: Analytical Construction for Dictionaries of Lifting Functions in Koopman Operator-Based Nonlinear Robotic Systems

• DOI: 10.1109/lra.2021.3133001
• 发表时间: 2021-11
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Lu Shi;Konstantinos Karydis

Coded Illumination for 3D Lensless Imaging

用于 3D 无透镜成像的编码照明

• DOI: 10.1109/ojsp.2022.3231180
• 发表时间: 2022
• 期刊: IEEE Open Journal of Signal Processing
• 影响因子: 2.8
• 作者: Zheng, Yucheng;Asif, M. Salman
• 通讯作者: Asif, M. Salman

Koopman Operators for Modeling and Control of Soft Robotics

• DOI: 10.1007/s43154-023-00099-8
• 发表时间: 2023-01
• 期刊: Current Robotics Reports
• 作者: Lu Shi;Zhichao Liu;Konstantinos Karydis

Coded Illumination for Improved Lensless Imaging

用于改进无透镜成像的编码照明

• DOI: 10.1109/tci.2023.3234898
• 发表时间: 2023
• 期刊: IEEE Transactions on Computational Imaging
• 影响因子: 5.4
• 作者: Zheng, Yucheng;Asif, M. Salman
• 通讯作者: Asif, M. Salman

Robust Generalized Proportional Integral Control for Trajectory Tracking of Soft Actuators in a Pediatric Wearable Assistive Device

• DOI: 10.1109/iros55552.2023.10342528
• 发表时间: 2023-01-01
• 期刊: 2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IROS
• 作者: Mucchiani，Caio;Liu，Zhichao;Karydis，Konstantinos
• 通讯作者: Karydis，Konstantinos