Collaborative Research: NRI: Smart Skins for Robotic Prosthetic Hand

合作研究：NRI：机器人假手智能皮肤

基本信息

批准号：
2221479
负责人：
Jie Yin
金额：
$ 72.9万
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 2025-08-31
项目状态：
未结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2221479&HistoricalAwards=false
关键词：
Collaborative Research NRI Smart Skins

项目摘要

In the U.S., there are over 41,000 registered persons who had an amputation of hand or complete arm, and approximately 10,000 new amputation cases in the upper limb each year. Prosthetic hands that can significantly improve the quality of amputees’ lives are highly desired to restore many activities of daily living, particularly in hand grasping and object manipulation. However, being able to use the hand accurately remains a grand and fundamental challenge in robotic prosthetic hands, especially in the desired trait of slip prevention for reliable and stable grasping in real life environments. The challenge resides in integrating fast sensing of slip detection and rapid movement in the small-area in the fingertips to prevent slippage through the use of sensors and controls of the prosthetic hands. This project proposes to meet this challenge by exploring a new concept of a skin that can change its shape for prosthetic hands in real time. For this research project, the investigators will explore how to adjust the skin friction automatically. This project seeks to significantly advance the current state-of-the-art prosthetic hands to achieve similar functionality to human hands, as well as enhance the ability of upper limb amputees for performing activities of daily living. Through both collaborative and individual efforts of the interdisciplinary team with distributed geographical location across the country (Raleigh, Philadelphia, and Rolla), this NSF project offers a unique opportunity to integrate insights from robotics, mechanics, design, and advanced manufacturing to generate an intriguing and visually appealing broad participation plan. Through existing programs, such as senior design projects, the Society of Women Engineers, honor program, and UNC's Working on Women in Science program, the investigators will encourage underrepresented groups of undergraduate students to participate in research activities, including female and African American students. With the help of established similar summer programs and other educational programs in each institution, the investigators aim to improve the STEM education of K-12 students.The goal of this project is to fundamentally understand the adaptive tactile interactions between the smart shape-morphing robotic skins and grasped objects for autonomous slip prevention in robotic prosthetic hands. Three thrusts will be pursued ranging from fundamental understanding of contact behaviors in smart morphing skins-objects through design, fabrication, actuation, and modeling in Thrust 1, to integrating flexible tactile and spatial sensing on the smart skins in Thrust 2, and to evaluating interactive integrated human-robotic system for preventing slip in Thrust 3. This project will examine and demonstrate the integration of multi-scale manufacturing technologies to achieve complex functional systems at the human-object interface, as well as the innovative reflex-like control of a robotic prosthesis hand. This project will generate new knowledge on the active role of actuated shape-morphing surface morphologies in tuning the friction. The translational research on upper limb amputees will provide new insight on human-prosthesis interactions and effectiveness of shared prosthesis control paradigm on amputees’ motor function and cognitive load. This project will also advance the knowledge in the multidisciplinary fields of mechanics, sensing, manufacturing, robotic prosthesis controls, and human-robot interaction.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.

在美国，有超过41,000名注册人员的手或完整的手臂截肢，每年上肢约有10,000例新的截肢病例。可以显着提高amuputees生活质量的假肢，非常希望恢复许多日常生活的活动，尤其是在手工修剪和物体操纵方面。但是，能够准确地使用手仍然是机器人假肢手的巨大而根本的挑战，尤其是在预防滑移的特征中，在现实生活环境中可靠稳定地抓住。挑战在于，在指尖中将滑动检测的快速感测和快速运动整合，以防止通过使用传感器和假肢的控制，以防止滑倒。这个项目提议通过探索一个可以实时改变假体手的皮肤的新概念来应对这一挑战。对于该研究项目，研究人员将探索如何自动调节皮肤摩擦。该项目旨在显着促进当前的最新假肢手，以达到与人类手相似的功能，并增强上肢amputees进行日常生活活动的能力。通过跨学科团队的合作和个人努力，在全国各地（罗利，费城和罗拉）分布式地理位置，该NSF项目提供了一个独特的机会，可以将机器人，力学，设计和先进制造业的洞察力整合起来，以产生一个有趣的和直观的出现广泛参与计划。通过现有的计划，例如高级设计项目，女工程师协会，荣誉计划以及UNC在科学领域的女性工作，研究人员将鼓励代表性不足的本科生组成的小组参加包括女性和非裔美国学生在内的研究活动。在每个机构中建立的类似夏季计划和其他教育计划的帮助下，调查人员旨在改善K-12学生的STEM教育。该项目的目的是从根本上了解机器人双手的自主性防止智能形状变形机器人的机器人皮肤和握住的智能形状的机器人鞋之间的适应性触觉相互作用。将通过设计，制造，动作和建模在智能形态上对接触行为的基本理解，从推力1中的智能变形行为中的基本理解到整合推力2中智能皮肤的灵活触觉和空间敏感性，并评估互动式的整合性系统，以实现远程的效果，并将其用于远程进行综合的过程。人类对象界面的功能系统以及机器人假体手的创新反射状控制。该项目将产生有关激活形状变形表面形态在调节摩擦中的积极作用的新知识。关于上肢截肢者的转化研究将为人类论文相互作用以及共享假体控制范式对Amuputees运动功能和认知负载的有效性提供新的见解。该项目还将推进力学，感应，制造，机器人假体控制和人类机器人互动的多学科领域的知识。该奖项反映了NSF的法定任务，并通过基金会的知识分子和更广泛的影响审查标准，通过评估来诚实地对支持进行评估。