Collaborative Research: NRI: Smart Skins for Robotic Prosthetic Hand

合作研究：NRI：机器人假手智能皮肤

• 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

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名登记的手或完全手臂截肢者，每年约有10,000例新的上肢截肢病例，迫切需要能够显着改善截肢者生活质量的假手。然而，能够准确地使用手仍然是机器人假手的一项重大而根本的挑战，特别是在所需的特征方面。在现实生活环境中实现可靠、稳定的防滑抓握的挑战在于将滑动检测的快速传感与指尖小区域的快速运动结合起来，以通过使用传感器和假手控制来防止滑动。提出通过探索一种可以实时改变假手形状的皮肤的新概念来应对这一挑战。在这个研究项目中，研究人员将探索如何自动调整皮肤摩擦力，该项目旨在显着推进当前的研究。最先进的通过分布在全国各地（罗利、费城和）的跨学科团队的协作和个人努力，使假手实现与人手相似的功能，并提高上肢截肢者进行日常生活活动的能力。 Rolla），这个 NSF 项目提供了一个独特的机会，可以整合来自机器人、机械、设计和先进制造的见解，通过现有项目（例如高级设计项目、女性工程师协会、荣誉计划和北卡罗来纳大学在“科学界女性”项目中，研究人员将鼓励代表性不足的本科生群体参与研究活动，包括女性和非裔美国学生，在每个机构建立的类似暑期项目和其他教育项目的帮助下，研究人员旨在提高研究水平。 K-12 学生的 STEM 教育。该项目的目标是从根本上了解智能变形机器人皮肤和抓取物体之间的自适应触觉交互，以实现机器人假手的自主防滑功能。对接触行为的理解通过 Thrust 1 中的设计、制造、驱动和建模，在智能变形皮肤-物体中进行研究；在 Thrust 2 中将灵活的触觉和空间传感集成到智能皮肤上；在 Thrust 3 中评估用于防止滑倒的交互式集成人机系统。该项目将研究并演示多尺度制造技术的集成，以在人机界面实现复杂的功能系统，以及机器人假手的创新反射式控制。将产生关于驱动形状变形表面形态在调节摩擦方面的积极作用的新知识对上肢截肢者的转化研究将为人类假肢相互作用以及共享假肢控制范式对截肢者运动功能和认知的有效性提供新的见解。该项目还将推进机械、传感、制造、机器人假肢控制和人机交互等多学科领域的知识。该项目授予 NSF 的法定使命，并通过评估被认为值得支持。基金会的智力价值和更广泛的影响审查标准。

项目成果

A Perspective on Miniature Soft Robotics: Actuation, Fabrication, Control, and Applications

微型软机器人的视角：驱动、制造、控制和应用

• DOI: 10.1002/aisy.202300063
• 发表时间: 2023-04
• 期刊: Advanced Intelligent Systems
• 影响因子: 7.4
• 作者: Chi, Yinding;Zhao, Yao;Hong, Yaoye;Li, Yanbin;Yin, Jie
• 通讯作者: Yin, Jie

Offline Evaluation Matters: Investigation of the Influence of Offline Performance of EMG-Based Neural-Machine Interfaces on User Adaptation, Cognitive Load, and Physical Efforts in a Real-Time Application

离线评估事项：研究基于 EMG 的神经机器接口的离线性能对实时应用中的用户适应、认知负荷和体力活动的影响

• DOI: 10.1109/tnsre.2023.3297448
• 发表时间: 2023-01
• 期刊: IEEE Transactions on Neural Systems and Rehabilitation Engineering
• 影响因子: 4.9
• 作者: Hinson, Robert M.;Berman, Joseph;Lee, I;Filer, William G.;Huang, He
• 通讯作者: Huang, He

Angle-programmed tendril-like trajectories enable a multifunctional gripper with ultradelicacy, ultrastrength, and ultraprecision

角度编程的卷须状轨迹使多功能夹具具有超精细、超强度和超精度

• DOI: 10.1038/s41467-023-39741-6
• 发表时间: 2023-08-02
• 期刊: Nature Communications
• 影响因子: 16.6
• 作者: Hong, Yaoye;Zhao, Yao;Berman, Joseph;Chi, Yinding;Li, Yanbin;Huang, He (Helen);Yin, Jie
• 通讯作者: Yin, Jie