Prosthetic Finger for Muscle Control Investigation

用于肌肉控制研究的假肢手指

基本信息

批准号：
7140663
负责人：
YOKY MATSUOKA
金额：
$ 18.99万
依托单位：
UNIVERSITY OF WASHINGTON
依托单位国家：
美国
项目类别：
财政年份：
2005
资助国家：
美国
起止时间：
2005-09-26 至 2007-08-31
项目状态：
已结题

项目摘要

DESCRIPTION (provided by applicant): We propose to complete the construction and validation of the anatomical robotic finger within the R21 funding structure as a way to continue this research using the R01 funding structure to investigate the human hand neural strategies and to help design FES and prosthetic hand controllers. We will focus on completing and validating the robotic index finger. The specific aims of this proposal are to: 1) Incorporate the robotic skin that will be used as the feedback device during object exploration for the index finger. This will complete the mechanical construction of the robotic finger. 2) Identify the system component (the relationship between external force perturbation and joint displacement before cortical feedback) for both the anatomical robotic index finger and the human index finger. We will compare these components and iterate on the robot's mechanical design. 3) Identify the active system component (the relationship between muscle tension (motor current) and joint displacement) for the robotic index finger given no external perturbation. Using this active system identification database, we will determine combinations of muscle tensions that would achieve a specified movement trajectory. Furthermore, we will select several cost functions that could be used to achieve good engineering solutions to control this robotic finger. When we accomplish the above, we will have the first mechanical model of the index finger that can be controlled using "engineering" solutions. Once this system is constructed, we will be able to compare between the biological and the engineering solutions used to achieve the same finger movement. This comparison will allow us to infer the muscle synergy and optimization criteria used in the nervous system. In addition, we will be positioned to investigate the neural control of the movement with the robotic index finger during object manipulation with cutaneous feedback. For example, we will be able to investigate the neural control strategies used when pushing objects of different weights and sizes from one place to another. We will also explore how we take advantage of the finger's passive mechanisms to manipulate objects. Finally, we will be able to expand our system to include the thumb to analyze pinching, other fingers to study the relationship between different finger interactions during manipulation, and the palm to understand the role of the palm during manipulation. We believe that this hand will not only be a tool to investigate the neural control of movement, but it will also be used as a foundation to construct a future prosthetic device that will seamlessly communicate with the nervous system.

描述（由申请人提供）：我们建议在R21资金结构内完成解剖机器人手指的构建和验证，以此作为一种使用R01资金结构来继续这项研究的方式，以研究人类手神经策略并帮助设计FES和设计FES和设计。假肢控制器。我们将专注于完成和验证机器人食指。该提案的具体目的是： 1）将机器人皮肤纳入食指对象探索期间将用作反馈装置。这将完成机器人手指的机械结构。 2）确定解剖机器人食指和人食指的系统组件（皮质反馈前的外力扰动和关节位移之间的关系）。我们将比较这些组件并在机器人的机械设计上进行迭代。 3）确定没有外部扰动的机器人食指的活动系统成分（肌肉张力（运动电流）和关节位移之间的关系。使用此主动系统识别数据库，我们将确定将实现指定运动轨迹的肌肉张力的组合。此外，我们将选择几种可用于获得良好工程解决方案来控制这种机器人手指的成本功能。当我们完成上述功能时，我们将拥有可以使用“工程”解决方案控制的食指的第一个机械模型。构建该系统后，我们将能够在用于实现相同手指运动的生物学和工程解决方案之间进行比较。这种比较将使我们能够推断神经系统中使用的肌肉协同作用和优化标准。此外，我们将被定位，以使用皮肤反馈对物体操纵期间用机器人食指进行运动的神经控制。例如，我们将能够研究将不同权重和大小从一个地方推到另一个地方的对象时所使用的神经控制策略。我们还将探索如何利用手指的被动机制来操纵物体。最后，我们将能够扩展我们的系统，以包括拇指以分析捏合，其他手指以研究操纵过程中不同的手指相互作用之间的关系，以及掌握手掌，以了解手掌在操纵过程中的作用。我们认为，这只手不仅将是调查运动神经控制的工具，而且还将用作建造未来的假体装置的基础，该设备将与神经系统无缝通信。