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.

这项国家机器人倡议（NRI-3.0）项目为有运动障碍的婴儿提供了新一代可穿戴上肢（UE）设备的软机器人技术。总体目标是推断婴儿的意图，评估对援助的需求，并在适当的协作时协同帮助探索的行动。当前的儿科可穿戴辅助技术缺乏对用户有效和适应性的必要功能和可访问性。该项目通过发现和创建适当的灵敏度，控制硬件和算法来解决这一差距，以实现有效的婴儿 - 机器人物理互动。该项目汇集了工程，计算机科学，化学和康复的专家，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跨学科研究问题。丰富的引人入胜的问题将为不同的本科生提供丰富的研究机会。该项目将现有的努力纳入了在加利福尼亚大学（UCR）（一家西班牙裔服务机构）举办的K-12外展活动中，以扩大代表性不足的少数群体的参与。该项目调查了实时，传感器基于传感器的闭环控制，用于针对易于耐磨机器人（旨在用作上极端的辅助设备（UE）辅助设备）。该项目以三种方式提高了基本工程知识。 1）通过无透镜摄像机对生物力学应用的视觉灵敏度，可以采用任意形状并具有超薄的外形，从而可以与软材料和表面无缝集成。该项目开发了一类新的视觉对象识别和跟踪算法，用于在UE辅助设备中使用无镜头相机系统。 2）软流体逻辑电路，以减少控制和操作气动激活的软机器人所需的刚性电子组件的量。该技术已被证明在辅助技术应用中很有价值，如果设备组件的尺寸和重量保持较低，可以更好地实现与人的物理互动。 3）共享的人类机器人录取控制，该控制实时使用数据来估计设备的动态模型及其与人类的相互作用。目的是通过自主在两种操作模式之间自主切换来提供所需的帮助：要么屈服于用户的意图，要么应用辅助力来帮助用户的手臂到达所需的对象。总体而言，这项研究将创建新形式的具体智能形式，以提高可穿戴辅助软机器人的能力，以与人类用户合作感知和采取行动。该奖项反映了NSF的法定任务，并被认为是通过基金会的智力优点和更广泛的影响审查标准通过评估来获得的支持。

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