Intelligent and Adaptive Control Applied to Powered Walkers

智能自适应控制应用于电动助行器

• 批准号: 10017054
• 负责人: Jason O. Burkholder
• 金额: $ 71.06万
• 依托单位: BARRON ASSOCIATES, INC.
• 依托单位国家: 美国
• 财政年份: 2015
• 资助国家: 美国
• 起止时间: 2015-09-01 至 2023-08-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/10017054
• 关键词: Address; Adult; Algorithms; Cardiovascular system; Caregivers; Cerebral Palsy; Characteristics; Child; Computer Assisted; Computers; Cost Analysis; Crutches; Data; Data Collection; Development; Disabled Persons; Equilibrium; Exercise; Exhibits; Family member; Feedback; Gait; Goals; Heart Rate; Human; Ice; Individual; Intelligence; Joystick; Knowledge; Laboratories; Locomotion; Manuals; Manufacturer Name; Mediation; Metabolic; Methods; Microprocessor; Motion; Motor; Muscle Development; Muscle Hypertonia; Musculoskeletal; Orthopedic Surgery procedures; Oxygen Consumption; Participant; Performance; Phase; Population; Preparation; Process; Psyche structure; Quality of life; Safety; Small Business Innovation Research Grant; Spastic Tetraplegia; Surveys; Symptoms; System; Testing; Universities; Variant; Virginia; Walkers; Walking; Wheelchairs; Wireless Technology; Work; Workload; biomechanical model; commercialization; control theory; cost; design; disability; dynamic system; experience; improved; innovation; instrument; neuromuscular; phase I trial; physical therapist; powered walker; programs; prototype; psychosocial; response; spasticity; usability; virtual; wireless communication

Project Summary/Abstract Barron Associates, Inc. (BAI), teamed with the University of Virginia’s (UVA’s) Department of Orthopaedic Sur- gery Motion Analysis and Motor Performance (MAMP) laboratory, proposes to develop a powered walker with an advanced, intelligent, and adaptive control strategy for individuals with neuromuscular walking disabilities. The aim of the control strategy is to provide powered assistance that optimally reduces the metabolic cost of walking. The overarching goal of the proposed effort is to reduce the workload of walking, keeping this population walking longer, providing critical exercise, continued muscle development, and improved quality of life. The walker will be equipped with powered wheels driven by an onboard microprocessor that houses the control algorithms. The controller will rapidly adjust the commanded inputs to account for the wide variability in user gait characteristics and spasticity. There will be no need for manual control of the walker, as the walker will automat- ically follow and support the user. The goal of the design is that it be equivalent to a virtual caregiver, or physical therapist walking alongside, gently providing balance and locomotive support during ambulation. Phase I Accomplishments: The major goals for Phase I were successfully accomplished, and include: (1) construction of both an instrumented unpowered walker and a prototype powered walker; (2) development of sophisticated, integrated human user/walker biomechanical models; (3) design of several candidate control ap- proaches; and (4) completion of preliminary laboratory trials of the powered walker. The Phase I findings regard- ing the powered walker, which included less required external work, very strong positive sentiment expressed by trial participants and their family members, and statistically significant lower average heart rates using the powered walker, clearly validate its potential benefits and acceptance by end users. Phase II Aims: Advance the control strategies: Although the Phase I controllers worked very well, improved, robust performance can be attained with more advanced, intelligent, and adaptive nonlinear control strategies. Advance the biomechanical modeling: UVA’s MAMP laboratory will further mature their biomechanical mod- els, increasing our knowledge and understanding of gait characteristics to aid in improving the control strategies. Construct improved walkers for laboratory trials: A set of new walkers will be constructed in both child and adult sizes, with improved mechanization and wireless transfer of gait data for post-trial analysis. Conduct laboratory trials: Expanded laboratory trials will be conducted with a larger population of subjects ranging from children to seniors, and spanning a variety of walking disabilities. Design/develop prototype commercial walker: Construction of the prototype commercial walker will be per- formed in Phase II. The commercial product will be called the SurePace Walker. The aim is to prepare for com- mercialization by advancing the mechanization, addressing the regulatory approval and clearance processes, and negotiating with existing walker manufacturers for follow-on teaming.

项目概要/摘要 Barron Associates, Inc. (BAI) 与弗吉尼亚大学 (UVA) 整形外科系合作， gery 运动分析和运动性能 (MAMP) 实验室提议开发一种动力助行器 针对神经肌肉行走障碍患者的先进、智能和自适应控制策略。 控制策略的目的是提供动力辅助，以最佳方式降低代谢成本 步行的总体目标是减少步行的工作量，保持这一人群的健康。 步行时间更长，提供重要的锻炼，持续的肌肉发育，并提高生活质量。 该助行器将配备动力轮，由内置微处理器驱动，该微处理器装有控制装置 控制器将快速调整命令输入，以适应用户步态的广泛变化。 无需手动控制助行器，因为助行器会自动控制。 设计的目标是使其相当于虚拟护理人员或物理护理人员。 治疗师在旁边行走，在行走过程中轻轻地提供平衡和运动支撑。 第一阶段的成就：第一阶段的主要目标已成功实现，包括：（1） 建造仪表化无动力助行器和原型动力助行器 (2) 开发 (3) 几种候选控制程序的设计 (4) 完成动力助行器的第一阶段研究结果： 使用动力助行器，其中所需的外部工作较少，表达了非常强烈的积极情绪 试验参与者及其家庭成员的平均心率在统计上显着降低 动力助行器，明确验证其潜在优势和最终用户的接受度。 第二阶段目标：推进控制策略：虽然第一阶段控制器工作得很好，改进了， 通过更先进、智能和自适应的非线性控制策略可以实现鲁棒的性能。 推进生物力学建模：UVA 的 MAMP 实验室将进一步成熟其生物力学模型 EL，增加我们对步态特征的知识和理解，以帮助改进控制策略。 为实验室试验建造改进的助行器：将在儿童和儿童中建造一套新的助行器 成人尺寸，改进机械化和无线传输步态数据以进行试验后分析。 进行实验室试验：将在更多受试者中进行扩大的实验室试验 从儿童到老年人，涵盖各种步行障碍。 设计/开发原型商业助行器：原型商业助行器的建造将根据以下情况进行： 第二阶段的商业产品将被称为SurePace Walker，目的是为com-做好准备。 通过推进机械化、解决监管审批和清理流程来实现商业化， 并与现有助行器制造商就后续合作进行谈判。