ERI: Human-Inspired Robotic Assistance to Prevent Slip-Induced Falls

ERI：仿人机器人协助防止滑倒引起的跌倒

• 批准号: 2301816
• 负责人: Mitja Trkov
• 金额: $ 20万
• 依托单位: Rowan University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2023
• 资助国家: 美国
• 起止时间: 2023-09-01 至 2025-08-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2301816&HistoricalAwards=false
• 关键词: ERI; Human; Inspired; Robotic; Assistance

This Engineering Research Initiation (ERI) project will contribute new knowledge in the field of prevention of human falls, which is a significant global health problem, and serve the national interest by promoting the progress of science and advancing national health and welfare. The project will transform existing slip and fall prevention approaches as it deviates from existing passive approaches, which include monitoring the environmental factors and training human neuromuscular slip response. This award supports fundamental research to provide needed knowledge for development of active fall prevention methodologies. Specifically, this research will demonstrate that slip-induced falls can be prevented by using a wearable device that provides external mechanical assistance to assist subjects during balance recovery and lead to new resulting balance recovery strategies of subjects that would not be possible without the device. Development of active fall prevention strategies can shift the paradigm of fall prevention approaches that can result in a significant reduction of falls and fall related injuries. The results of this research have the potential to impact the healthcare sector by improving the quality of life of the fall-prone population and reduce the associated economic and societal costs due to falls.This project focuses on the fundamental study of locomotor stability strategies during gait perturbations and human co-adaptation to the external assistance from robotic devices to prevent falls. Deviating from passive slip-and-fall prevention approaches and existing empirically derived controllers, this research will enable development of a complete control framework for active slip prevention using hip and knee exoskeleton. The main objectives of this project are: (1) to establish a fundamental understanding of the active fall prevention strategies through human-exoskeleton cooperation during gait perturbations, and (2) to create a novel bidirectional control framework enabling symbiosis and transfer learning between human and device leading to emergent behavior during slip recoveries. The control framework will integrate theoretical bipedal stability and human-inspired intersegmental coordination with the human motor control and neuromuscular responses. This project will advance our fundamental understanding on preventing slip-induced falls and establish tools to design controllers for safe and efficient assistive fall preventive strategies. This research can impact cooperative, bidirectional controller designs of other assistive device, exoskeletons, prosthesis, and robotic bipedal walkers in robotics and rehabilitation engineering.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.

该工程研究启动（ERI）项目将在人类瀑布的预防领域贡献新知识，这是一个重大的全球健康问题，并通过促进科学进步并促进国家健康和福利来实现国家利益。该项目将偏离现有的被动方法，包括监测环境因素和训练人类神经肌肉滑移反应，将改变现有的防滑方法。该奖项支持基本研究，以提供所需的知识来开发主动秋季预防方法论。具体而言，这项研究将证明，通过使用可穿戴的设备，可以在平衡恢复期间提供外部机械援助来帮助受试者，并导致新的受试者的平衡恢复策略，而没有设备，就无法实现新的平衡恢复策略。积极的秋季预防策略的发展可能会改变预防方法的范式，从而大大减少跌倒和跌倒有关的伤害。这项研究的结果有可能通过改善堕落的人群的生活质量，并降低由于跌倒而引起的相关经济和社会成本，从而影响医疗保健部门。该项目着重于步态扰动和人类共同适应机器人助力的基本研究，以防止机器人设备的外部援助，以防止机器人设备跌倒。这项研究偏离了被动式滑动预防方法和现有的经验衍生的控制器，将实现使用髋关节和膝盖外骨骼的全面控制框架，以预防主动滑移框架。该项目的主要目标是：（1）通过步态扰动期间的人类外观合作建立对主动秋季预防策略的基本理解，（2）创建一个新颖的双向控制框架，从而实现共生型，并在恢复过程中引起人类和装置之间的转移和转移。控制框架将与人体运动控制和神经肌肉反应相结合的理论两性稳定性和人类启发的细胞段协调。该项目将促进我们对防止滑动引起的跌倒的基本理解，并为设计控制器设计工具，以实现安全有效的辅助跌落预防策略。这项研究可能会影响其他辅助设备，外骨骼，假体和机器人双皮亚步行者的合作，双向控制器设计，并在机器人和康复工程中。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功能和广泛影响的评估来评估CRETERIA的评估。