Task space control of normal & pathological locomotion

任务空间控制正常

• 批准号: 8488499
• 负责人: Young-Hui Chang
• 金额: $ 30.49万
• 依托单位: GEORGIA INSTITUTE OF TECHNOLOGY
• 依托单位国家: 美国
• 财政年份: 2010
• 资助国家: 美国
• 起止时间: 2010-08-15 至 2015-06-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/8488499
• 关键词: Address; Affect; Amputation; Amputees; Behavioral; Biological Assay; Biomechanics; Complex; Computer Simulation; Controlled Study; Data; Data Analyses; Deformity; Disease; Emotional; Evaluation; Future; Gait; Gait abnormality; Goals; Human; Individual; Injury; Joints; Kinetics; Knee; Leg; Limb structure; Locomotion; Lower Extremity; Measures; Methods; Metric; Modeling; Motor; Movement; Muscle; Nerve; Neuromechanics; Outcome; Pathology; Pattern; Performance; Persons; Physics; Positioning Attribute; Prosthesis; Quality of life; Rehabilitation therapy; Research; Running; Simulate; Speed; Stress; System; Techniques; Testing; Therapeutic; Therapeutic Intervention; Torque; Walking; Work; analytical tool; base; bone; disability; flexibility; human subject; indexing; kinematics; limb amputation; motor learning; neuromechanism; neuromusculoskeletal; novel therapeutic intervention; public health relevance; research study; robotic device; simulation; tool

DESCRIPTION (provided by applicant): The broad, long-term objectives of this proposal are to quantitatively characterize, compare, and simulate the use of task space control in normal and pathological gait due to lower limb amputation. Extensive research has detailed joint kinematics and kinetics of human locomotion and movement control with normal and various motor function disorders. Yet, relatively little is known about how humans relate joint-level information to higher-level locomotor goals. Understanding basic biomechanical tenets governing leg control before and after injury will provide a general theoretical framework for creating new therapeutic interventions for pathological gait disabilities. This project proposes to use behavioral locomotion experiments to study task space control in both healthy intact human subjects and in both Below-Knee (transtibial) and Above-Knee (transfemoral) amputees walking on prosthetic legs. This project will use extensive data analysis to quantify and characterize task space control during locomotion using variables identified from biomechanical models and by eigenanalysis. Based on the analytical results, a further study will create a physics-based computer simulation of pathological amputee gait with corrective joint torques computed from the differences discovered between normal and amputee gait. The general hypothesis of the project is that humans control locomotion by precisely guiding their legs through a predefined task space while allowing flexibility in joint-level dynamics and that more proximal limb amputations will result in greater losses in this ability to exploit task space redundancy. Three specific aims to study the use of task space control during locomotion are addressed: normal human locomotion (Aim1); pathological gait due to lower limb amputation (Aim2); and, the evaluation and simulation of the changes from normal to pathological human walking (Aim3). Achieving these three aims will provide immediate deliverables by quantifying functionally relevant task variables for normal human gait and a theoretical understanding of how these control variables change after a neuromechanical pathology such as lower limb amputation. This work will develop new analytical tools to quantitatively assay normal and amputee gait, however, it will also be generally applicable to the study of all gait pathologies. It could further impact future therapeutic approaches for gait rehabilitation that use task-level rather than joint-level rehabilitation goals and inspire control systems for the rapidly growing field of rehabilitative robotic devices. The proposed work will also form a theoretical framework for future studies of the neural mechanisms underlying leg control during locomotion.

描述（由申请人提供）：该提案的广泛，长期目标是定量表征，比较和模拟由于下肢截肢而在正常和病理步态中使用任务空间控制的使用。广泛的研究具有正常和各种运动功能障碍的人类运动和运动控制的详细关节运动学和动力学。但是，关于人类如何将联合信息与高级运动目标联系起来的知之甚少。理解受伤前后控制腿部控制的基本生物力学原则将为为病理步态障碍创建新的治疗干预措施提供一个一般的理论框架。该项目建议使用行为运动实验来研究健康完整的人类受试者的任务空间控制，以及膝盖（transibial）和膝盖上方（transfremoral）（transfemoral）的宽度分子在假体腿上行走。该项目将使用广泛的数据分析使用从生物力学模型和征苯分析中识别的变量来量化和表征运动过程中的任务空间控制。基于分析结果，进一步的研究将创建基于物理的计算机模拟病理截肢步态，并根据正常步态和截肢步态发现的差异计算出矫正关节扭矩。该项目的总体假设是，人类通过精确指导腿穿过预定义的任务空间来控制运动，同时允许联合级别的动态灵活性，并且更近端的肢体截肢将导致这种利用任务空间冗余的能力造成更大的损失。解决了在运动过程中使用任务空间控制的三个特定目标：正常的人类运动（AIM1）；由于下肢截肢而引起的病理步态（AIM2）；并且，从正常人到病理步行的变化的评估和模拟（AIM3）。实现这三个目标将通过量化正常人体步态功能相关的任务变量以及对这些控制变量在神经力学病理（例如下肢截肢）之后如何变化的理论理解来提供直接的可交付成果。这项工作将开发新的分析工具来定量测定正常步态和截肢步态，但是，它通常也适用于所有步态病理学的研究。它可以进一步影响未来的治疗方法，用于使用任务级别而不是联合康复目标的步态康复，并激发了恢复机器人设备快速增长的领域的控制系统。拟议的工作还将构成一个理论框架，用于对运动过程中腿部控制的神经机制的未来研究。