Portable, robotic footwear for real-time control of foot-ground stiffness

用于实时控制足部地面刚度的便携式机器人鞋

基本信息

批准号：
10678900
负责人：
Wouter Hoogkamer
金额：
$ 22.9万
依托单位：
UNIVERSITY OF MASSACHUSETTS AMHERST
依托单位国家：
美国
项目类别：
财政年份：
2022
资助国家：
美国
起止时间：
2022-08-15 至 2025-04-30
项目状态：
未结题

来源：
https://reporter.nih.gov/project-details/10678900
关键词：
Acceleration Address Age Area Award Basic Science Behavior Behavioral Biomechanics Biomedical Technology Caring Clinical Clinical Research Data Development Devices Diagnosis Diagnostic Early Diagnosis Equilibrium Feedback Functional disorder Gait Goals Human Impairment Individual Knowledge Laboratories Lead Learning Locomotion Measurement Measures Mechanics Medical Methodology Methods Mission Modeling Motion Motor Multiple Sclerosis Muscle Musculoskeletal Diseases National Institute of Biomedical Imaging and Bioengineering Neurodegenerative Disorders Neurologic Neuromechanics Parkinson Disease Participant Pathology Performance Peripheral Pilot Projects Public Health Quality of life Reaction Rehabilitation device Rehabilitation therapy Reporting Research Research Personnel Resistance Robotics Safety Scientific Advances and Accomplishments Series Shoes Signal Transduction Specific qualifier value Stroke Surveys System Testing Time Training United States National Institutes of Health Validity and Reliability Walking Weight-Bearing state Work age related behavior change clinical practice design disability dynamic system equilibration disorder evidence base experimental analysis falls foot gait rehabilitation improved innovation insight invention kinematics light weight motor behavior motor learning neural neuroadaptation neuroregulation new technology normal aging novel portability preventive intervention recruit rehabilitation paradigm response robotic device sensor tool transmission process treadmill usability wearable device

项目摘要

PROJECT SUMMARY/ABSTRACT Locomotor and balance dysfunction, which have a pernicious effect on independence and quality of life, are caused by of a broad range of neural and musculoskeletal disorders as well as normal aging. While existing treatment methods can counter some dysfunctions, some pathologies are persistent, such as weight-bearing asymmetry and reduced adaptability. These pathologies are strongly defined by the dynamics of the physical interaction between the feet and the ground. Thus, there is a critical need for novel tools to study, and ultimately assist or re-train, how humans manage their physical interaction with the ground. The objective of the proposed research is to enable new research into motor learning and human adaptation and provide an accessible, effective vehicle for gait and balance rehabilitation through the development of portable robotic footwear which can modify stiffness at the foot-ground interface in real-time. The significant contributions of this work include: 1) creating the technical capability to change foot-ground interaction dynamics in both real-world and laboratory settings, 2) enabling new methods of studying, assisting, and re-training human gait and balace, 3) significantly advancing scientific knowledge by quantifying human adaptation to long-term changes in foot-ground interaction dynamics, an understudied area of research, and 4) improving clinical practice by providing a portable tool to make new treatments, preventative interventions, and early diagnoses widely accessible. The proposed research is innovative because it will employ a transdisciplinary approach, applying concepts from neuromotor control, biomechanics, and robotics, to develop a novel robotic device for research, assistance, and rehabilitation. This proposal addresses the following specific aims: Aim 1: Design, build and evaluate portable, robotic footwear that can actively modulate foot-ground stiffness and measure the ground reaction forces of each foot independently. We will design, fabricate, and validate robotic footwear with an active mechanism to modulate foot-ground interface stiffness in real-time. The stiffness control system and onboard sensors will be rigorously evaluated for validity and reliability with bench testing along with a pilot study with healthy participants performing whole-body balance and walking tasks while wearing the device. Human testing will also evaluate the perceived safety, comfort, and overall usability of the system. Aim 2: Explore the effect of asymmetrically reducing foot-ground stiffness with the robotic footwear on human motor behavior during standing and walking. An additional pilot study will be conducted with healthy participants to assess how human motor behavior changes in response to active foot-ground stiffness modulation. Results will inform the potential utility of the robotic footwear for basic and clinical research applications and the development of models to understand human neuromotor control of locomotion and balance.

项目摘要/摘要运动和平衡功能障碍对独立性和生活质量产生有害作用，是由广泛的神经和肌肉骨骼疾病以及正常衰老引起的。在存在的同时治疗方法可以应对某些功能障碍，某些病理持续存在，例如体重不对称和降低的适应性。这些病理是由物理动力的强烈定义脚和地面之间的相互作用。因此，对于学习新颖的工具的迫切需要，最终协助或重新训练，人类如何管理与地面的身体互动。提议的目标研究是为了使运动学习和人类适应的新研究，并提供可访问的，通过开发便携式机器人鞋类的步态和平衡康复的有效车辆可以实时修改脚地面接口处的刚度。这项工作的重大贡献包括：1）创建技术能力来改变现实世界和实验室中的脚地面互动动态设置，2）实现新的研究，协助和重新训练人步态和巴拉莱斯的新方法，3）显着通过量化人类对长期脚地互动的长期变化的适应来推进科学知识动态，研究的研究领域，以及4）通过提供便携式工具来改善临床实践进行新的治疗方法，预防性干预措施以及早期诊断。拟议的研究之所以创新，是因为它将采用跨学科方法，应用神经运动控制的概念，生物力学和机器人技术开发一种新型的机器人装置，用于研究，援助和康复。这提案解决以下具体目的：目标1：设计，建造和评估便携式机器人鞋类，可以主动调节脚地面刚度和测量每英尺的地面反作用力。我们将设计，制造和验证具有主动机构的机器人鞋类，以调节脚地面实时接口刚度。刚度控制系统和机上传感器将进行严格评估台式测试的有效性和可靠性以及一项针对健康参与者进行全身的试验研究佩戴设备时平衡和步行任务。人类测试还将评估所感知的安全性，舒适性和系统的总体可用性。 AIM 2：探索不对称降低脚地面刚度的效果站立和步行期间的人体运动行为。将与健康参与者进行一项其他试点研究，以评估人类运动行为如何响应于主动脚地面刚度调制的变化。结果将告知用于基本和临床研究应用的机器人鞋类以及了解人类的模型的发展神经运动和平衡的神经运动控制。