Collaborative Research: HCC: Medium: Learning to coordinate between human and a robotic prosthesis for symbiotic locomotion

合作研究：HCC：中：学习协调人类和机器人假体之间的共生运动

• 批准号: 2211739
• 负责人: He Huang
• 金额: $ 70万
• 依托单位: North Carolina State 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: 2022-09-01 至 2026-08-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2211739&HistoricalAwards=false
• 关键词: Collaborative; Research; HCC; Medium; Learning

Individuals with lower limb amputation depend on assistive devices such as prostheses to restore basic mobility in daily living, and emerging robotic lower limb prostheses are powered and programmable, showing great potential for improved functionality. Yet, the expected benefit of these modern devices has not yet been fully realized, partly because of a lack of seamless coordination between computer controlled artificial joints and human joints in walking. This project will develop novel technology to address this “human-prosthesis symbiotic locomotion problem” which is to say that a human and a wearable robotic lower limb prosthesis interact as collaborating agents and function in unison to achieve a common locomotion performance goal. This research will improve amputees’ walking performance and efficiency while enhancing their sense of prosthesis embodiment and device acceptance, thus dramatically improving their quality of life. This is the first study of human-prosthesis coordination and co-adaptation in locomotion, and will contributes important knowledge in the fields of physical human-robot interaction and human-centered computing. Additional broad impacts will derive from integration of the research into interdisciplinary training of undergraduate and graduate students, in areas including machine learning, human motor control and learning, and rehabilitation engineering. The objective of this project is to create and evaluate a Human-Centered Computing and Control (HC3) framework for improved human-prosthesis walking performance (in terms of symmetrical gait, postural stability, and reduced sense of effort) and prosthesis embodiment, the research to include three thrusts: (1) an innovative formulation of a coordinated human-robot control problem and a learning-based design solution to achieve human-prosthesis symbiotic locomotion, a problem that poses great and new challenges to classical control and existing multiagent reinforcement learning methods; (2) a novel augmented biofeedback interface to enable active human locomotion adaptation to coordinate with the robotic prosthesis; and (3) a new measure of embodiment of intelligent lower limb prostheses in walking based on the concept of biological motion. Furthermore, the HC3 framework will be evaluated on transfemoral amputees walking with a robotic knee prosthesis.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.

下肢截肢的个体取决于辅助设备，例如假体，以恢复日常生活中的基本移动性，而新兴的机器人下肢假肢是动力和可编程的，具有改善功能的巨大潜力。然而，这些现代设备的预期好处尚未完全实现，部分原因是计算机受控的人造关节和步行中的人类关节之间缺乏无缝的协调。该项目将开发新的技术来解决这种“人类传统共生运动问题”，即人类和可穿戴的机器人下肢假体相互作用，因为合作的代理人和功能是一致的，以实现共同的运动性能目标。这项研究将提高amuputees的步行性能和效率，同时增强他们的假体体现和设备的接受感，从而极大地改善其生活质量。这是对运动的人类合作协调和共同适应的首次研究，它将在物理人类机器人相互作用和以人为中心的计算领域中贡献重要知识。在机器学习，人体运动控制和学习以及康复工程等领域，将研究整合到对本科和研究生的跨学科培训中的其他广泛影响。该项目的目的是创建和评估以人为中心的计算和控制（HC3）框架，以改善人类论文步行绩效（就对称的GIT，姿势稳定性和降低的努力感和假体体现而言）和假体的实现，研究包括三个推力：（1）达到人类人体控制问题的解决方案：运动，这是一个对经典控制和现有多种强化学习方法构成巨大和新挑战的问题； （2）一种新颖的增强生物反馈界面，以使主动的人类运动适应能够与机器人假体进行协调； （3）根据生物运动的概念步行中智能下肢假体实施的新量度。此外，HC3框架将以机器人的膝盖假体进行转际隔板的行走进行评估。该奖项反映了NSF的法定任务，并通过使用该基金会的智力优点和更广泛的影响来评估标准，认为NSF的法定任务被认为是宝贵的支持。

项目成果

Reinforcement Learning Control With Knowledge Shaping

• DOI: 10.1109/tnnls.2023.3243631
• 发表时间: 2023-02
• 期刊: IEEE Transactions on Neural Networks and Learning Systems
• 影响因子: 10.4
• 作者: Xiang Gao;Jennie Si;H. Huang

Human-Robotic Prosthesis as Collaborating Agents for Symmetrical Walking

• 发表时间: 2022
• 作者: Ruofan Wu;Junmin Zhong;Brent A. Wallace;Xiang Gao;H. Huang;Jennie Si

A Robotic Assistance Personalization Control Approach of Hip Exoskeletons for Gait Symmetry Improvement

• DOI: 10.1109/iros55552.2023.10341440
• 发表时间: 2023-10
• 期刊: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• 作者: Qiang Zhang;Xikai Tu;Jennie Si;M. Lewek;H. Huang