NRI: Small: Control of Powered Segmented Legs for Humanoid & Rehabilitation Robotic

NRI：小：人形动力分段腿的控制

• 批准号: 8501617
• 负责人: Hartmut Geyer
• 金额: $ 9.64万
• 依托单位: CARNEGIE-MELLON UNIVERSITY
• 依托单位国家: 美国
• 财政年份: 2012
• 资助国家: 美国
• 起止时间: 2012-07-01 至 2016-06-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/8501617
• 关键词: Address; Amputees; Animals; Artificial Leg; Behavior; Behavior Control; Biomechanics; Bypass; Computer Simulation; Diabetes Mellitus; Disabled Persons; Elderly; Engineering; Environment; Epidemic; Equilibrium; Feedback; Felis catus; Future; Gait; Goals; Health; Healthcare; Human; Human Engineering; Individual; Knowledge; Lead; Leg; Locomotion; Methods; Motion; National Institute of Child Health and Human Development; Neurosciences; Patients; Pattern; Performance; Process; Productivity; Prosthesis; Public Health; Quality of life; Rattus; Recovery; Rehabilitation therapy; Research; Research Priority; Robot; Robotics; Running; Science; Self-Help Devices; Sensorimotor functions; Societies; Speed; System; Technology; Theoretical model; Walking; Work; aging population; base; biological systems; design; exoskeleton; insight; interdisciplinary approach; meetings; mind control; neuromuscular; novel strategies; research and development; research study; response; robot assistance

DESCRIPTION (provided by applicant): The prevailing control strategy in gait rehabilitation robotics is to enforce predefined motion patterns observed In human locomotion. Although this approach can restore steady human walking In well-defined environments, it does not equip the human-robot system with the functional dexterity that distinguishes legged mobility In natural unstructured environments. To overcome this fundamental limitation, the longterm objectives of the proposed work are to uncover the functional principles behind the biomechanical design and neuromuscular control of human legs In locomotion across gaits, and to transfer these principles to the design and control of powered leg prostheses and exoskeletons that restore or enhance the physical capabilities of Individuals who need locomotion assistance. The first specific aim In this application is to understand the biomechanics and neuromuscular control of the key leg behaviors of active balance recovery after large disturbances, continuous speed changes, combined walking and running, and gait transitions. The second specific aim Is to demonstrate and verify the advantages of the extracted principles to the control and dexterity of powered robotic legs. These aims will be addressed by deriving theoretical and computational models of neuromuscular control In human locomotion, and by developing a robotic leg testbed that replicates the actuation and dynamics of human and prosthetic legs and allows to rigorously characterize proposed leg designs and controls. The proposed work will help to reverse-engineer the sensorimotor control of human locomotion and has the potential to result In assistive technology that restores or enhances the physical capabilities of elderly people, patients, and amputees. Both directions can create a broad Impact on society, with particular benefits in public health care. The project directly relates to the NICHD research priority on medical rehabilitation for developing the scientific and technical knowledge needed to enhance health, productivity, Independence, and quality-of-life for people with disabilities.

描述（由申请人提供）：步态康复机器人技术中的主要控制策略是在人类运动中执行预定义的运动模式。尽管这种方法可以恢复在定义明确的环境中稳定的人行走，但它并不能使人类机器人系统具有功能性灵巧性，从而区分了自然的非结构化环境中的腿部移动性。为了克服这一基本限制，拟议的工作的长期目标是揭示跨跟子运动中人腿的生物力学设计和神经肌肉控制背后的功能原理，并将这些原理转移到有能力的腿部假言的设计和控制中，这些原理恢复了需要或增强需要帮助的人的物理能力的人。该应用程序中的第一个具体目的是了解在发生巨大干扰，连续速度变化，步行和跑步以及步态过渡之后主动平衡恢复的关键腿行为的生物力学和神经肌肉控制。第二个具体目的是证明和验证提取原理对动力机器人腿的控制和敏捷性的优势。这些目标将通过得出人类运动中神经肌肉控制的理论和计算模型来解决，并开发机器人腿测试床，该机器人腿测试床可以复制人类和假肢腿的致动和动态，并允许严格地表征拟议的腿部设计和控制。拟议的工作将有助于逆转工程的人类运动的感觉运动控制，并有可能导致辅助技术恢复或增强老年人，患者和截肢者的身体能力。这两个方向都可以对社会产生广泛的影响，并在公共卫生保健方面具有特殊的好处。该项目直接涉及医学康复的NICHD研究优先事项，以发展为残疾人增强健康，生产力，独立性和生活质量所需的科学和技术知识。