CAREER: Improving Prosthesis Usability through Enhanced Touch Feedback and Intelligent Control

职业：通过增强的触摸反馈和智能控制提高假肢的可用性

• 批准号: 2146206
• 负责人: Jeremy Brown
• 金额: $ 73.03万
• 依托单位: Johns Hopkins University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-07-01 至 2027-06-30
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2146206&HistoricalAwards=false
• 关键词: CAREER; Improving; Prosthesis; Usability; through

This Faculty Early Career Development (CAREER) grant will support research that contributes to the knowledge needed to improve the functional usability of upper-limb prostheses, thereby promoting the progress of science, advancing national health, and securing national defense. Upper-limb prostheses are artificial limbs used to replace someone’s natural limb after limb amputation. These limbs are often motorized, featuring hands and fingers that move much like our natural hands and fingers. Unfortunately, these devices do not provide the wearer with haptic (touch-based) information. Haptic information is essential for many tasks, such as picking up an egg without cracking it, closing a resealable bag, or drinking from a plastic cup. This award supports fundamental research needed to develop a new type of prosthesis that intelligently interacts with the world like our natural limbs and provides wearers with haptic information of those interactions. This new prosthesis will interpret the wearers’ task intent and assist the wearer in accomplishing tasks with minimal mental effort. Improving the usability of prostheses will ultimately lead to a better quality of life for individuals experiencing limb loss, including military veterans. Likewise, the knowledge gained through this research will prove beneficial to other types of assistive devices, allowing more individuals to return to the workforce after injury. Therefore, results from this research will benefit the US economy and society. This research involves several disciplines, including mechanical design, electronics, control theory, biomedicine, and robotics. Through this interdisciplinary approach, the research will broaden participation amongst the engineers, scientists, and physicians developing assistive technologies and those in society who directly or indirectly benefit from these technologies.Dexterous manipulation with our upper-limbs originates from a hierarchical control scheme in which task intent is converted to operational motor actions in the peripheral limbs that appropriately tune the limb’s mechanical impedance to accomplish the task goals, all while haptic feedback from the limb is used to track task progress and refine the motor plan. Achieving comparable dexterous control capabilities with an upper-limb prosthesis requires a robust understanding of the appropriate means by which this hierarchical control scheme can be extended out through the prosthesis to the environment. This research seeks to fill this knowledge gap through investigations into intelligent control that will enable an amputee to perform dexterous tasks considered infeasible with current prosthesis technology. The research team will utilize data-driven approaches to model task intent from physiological and environmental interaction measures and derive and empirically validate impedance control and haptic feedback strategies that adapt to the amputee’s intent and the context of the task being performed.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.

这项教师早期的职业发展（职业）赠款将支持研究，这有助于提高上限假体的功能可用性所需的知识，从而促进科学的进步，推进国家健康并确保国防。上limb假体是人造四肢，用于替代肢体截肢后的天然肢体。这些四肢通常是机动的，手和手指的动作非常像我们的自然手和手指一样。不幸的是，这些设备不会为佩戴者提供触觉（基于触摸）的信息。触觉信息对于许多任务至关重要，例如在不破解鸡蛋，关闭可重新密封的袋子或从塑料杯中饮用的情况下捡起鸡蛋。该奖项支持开发一种新型的假体所需的基础研究，该假体智能与我们的自然四肢互动，并为佩戴者提供这些相互作用的触觉信息。这项新的假体将解释佩戴者的任务意图，并以最少的心理努力帮助佩戴者完成任务。提高假肢的可用性最终将导致肢体损失（包括退伍军人）的个人的生活质量更好。同样，通过这项研究获得的知识将证明对其他类型的辅助设备有益，从而使更多的人在受伤后重返劳动力。因此，这项研究的结果将使美国经济和社会受益。这项研究涉及多个学科，包括机械设计，电子学，控制理论，生物医学和机器人技术。通过这种跨学科的方法，这项研究将扩大工程师，科学家和医生之间发展辅助技术的参与以及直接或间接从这些技术中受益的社会中的社会中的参与。对我们上限的Dextexter进行操作源于我们的层次结构控制方案，在该方案中，在该方案中，在该方案中，在该方案中，在该方案中，在该任务中都可以在该任务中促进了综合的范围，该任务是在任务范围内，该任务是偏向于典型的限制，该任务是偏向于行动的，该任务是在范围内的范围内，该任务是一定的，这是一个任务限制的，这是一项任务限制的，该方案是一项任务限制的，该方案是一项任务限制的，该方案是一项任务限制的，该方案是一项任务范围所有肢体的触觉反馈都用于跟踪任务进度并完善运动计划。通过上限假体获得可比的灵活控制能力，需要对可以通过假体扩展到环境的假体扩展该分层控制方案的适当方法。这项研究旨在通过对智能控制的调查来填补这一知识差距，这将使截肢者能够执行具有当前假体技术不可行的灵活任务。研究团队将利用数据驱动的方法来模拟从物理和环境互动措施中意图的任务，并在经验上验证了适应截肢者意图以及所执行任务的上下文的障碍控制和高度反馈策略。该奖项通过评估了NSF的诚实，反映了诚实地对其进行评估的支持，并已通过评估了概念的范围。