Hands-free Control of an Assistive Robotic Arm for High Level Paralysis

用于高度瘫痪的辅助机械臂的免提控制

• 批准号: 10741948
• 负责人: ANDREW J FUGLEVAND
• 金额: $ 14.66万
• 依托单位: UNIVERSITY OF ARIZONA
• 依托单位国家: 美国
• 财政年份: 2023
• 资助国家: 美国
• 起止时间: 2023-08-01 至 2025-07-31
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10741948
• 关键词: 3-Dimensional; Activities of Daily Living; Affect; Attention; Awareness; Bathing; Beds; Benchmarking; Brain; Cervical; Complex; Computers; Data; Dedications; Development; Devices; Eating; Environment; Evaluation; Face; Facial Expression; Facial Muscles; Future; Gases; Goals; Hand; Head; Head Movements; Health; Hygiene; Implanted Electrodes; Individual; Intuition; Investigation; Joystick; Left; Lesion; Lifting; Limb structure; Location; Lower Extremity; Maps; Methods; Modality; Movement; Mus; Operative Surgical Procedures; Paralysed; Patients; Performance; Personal Satisfaction; Personal Space; Positioning Attribute; Procedures; Psyche structure; Publications; Quadriplegia; Risk; Robot; Robotics; Scheme; Self-Help Devices; Side; Signal Transduction; Spinal cord injury; Standardization; Sterile coverings; System; Technology; Testing; Thinking; Tongue; Training; Upper Extremity; Voice; Well in self; Wheelchairs; Work; arm; assistive robot; brain machine interface; cost; efficacy evaluation; feeding; grasp; improved; input device; neural; robot control; robotic device

PROJECT SUMMARY/ABSTRACT Simple tasks such as using a computer, feeding oneself, personal hygiene, and grabbing objects are impossible for high level tetraplegics without assistance. Remarkable advances in brain-machine interfaces (BMIs) in the past 20 years, however, have demonstrated that paralyzed individuals can exert good control over assistive robotic devices derived from neural recordings using electrodes implanted in the brain. Despite the promise of such BMIs, there nevertheless remain significant shortcomings, including 1) the duration over which neural recordings remain viable is limited to a couple of years, and 2) the procedure requires invasive surgery associated with substantial risks and costs. Most individuals with high level paralysis, however, retain the ability to voluntarily move their head and tongue, activate facial muscles, and can speak. It seems reasonable to hypothesize, therefore, that signals derived from these actions could be used to control movements of a robotic arm accurately and intuitively. The main goal of this project, therefore, is to evaluate the utility of non-invasive methods to supply the inputs needed to control movements of a robotic limb to perform a variety of tasks. Toward this goal, we will carry out three specific aims: 1) evaluate control types (position and velocity) and input modalities (head, face/head EMG, tongue, voice) for regulating robotic arm position, 2) assess various methods to control robot arm grasping, 3) characterize improvements in robotic arm control performing standardized real-world tasks with practice. Importantly, data collected here using non- invasive methods during standardized tasks will provide a crucial benchmark needed for evaluation of, and justification for using BMIs developed in the future. Moreover, this project will provide a major advance toward the development of non-invasive and readily controlled assistive robotic arms that could greatly increase the independence and well-being of individuals stricken with high-level paralysis.

项目摘要/摘要 简单的任务，例如使用计算机，养活自己，个人卫生和抓住对象 没有帮助，对于高水平的四边形不可能。脑机界面的显着进步 （BMI）然而，在过去的20年中，瘫痪的人可以发挥良好的控制 使用植入大脑中的电极从神经记录中得出的辅助机器人设备。尽管 这种BMI的承诺，尽管如此，仍然存在重大缺点，包括1）持续时间 哪些神经记录仍然可行，限于几年，2）该程序需要侵入性 与实质性风险和成本相关的手术。但是，大多数患有高水平麻痹的人保留 自愿移动头和舌头，激活面部肌肉并可以说话的能力。它似乎 因此，合理地假设从这些动作中得出的信号可以用于控制 机器人臂的运动准确，直觉。因此，该项目的主要目标是评估 非侵入性方法提供控制机器人肢体运动所需的输入的实用性 执行各种任务。为了实现这一目标，我们将执行三个具体目标：1）评估控制类型 （位置和速度）和输入方式（头部，脸部/头部EMG，舌头，声音）用于调节机器人手臂 位置，2）评估控制机器人臂抓地力的各种方法，3）特征机器人臂的改进 控制执行标准化现实世界任务的控制。重要的是，此处收集的数据使用非 - 标准化任务期间的侵入性方法将为评估和 未来使用BMI的理由。此外，该项目将为 非侵入性和容易控制的辅助机器人臂的发展，可以大大增加 陷入高级瘫痪的个人的独立性和福祉。