CPS: Medium: Collaborative Research: User and Environment Interactive Planning and Control of Artificial Lower Limbs for Resilient Locomotion

CPS：中：协作研究：用于弹性运动的人工下肢的用户和环境交互式规划和控制

• 批准号: 10021665
• 负责人: Hartmut Geyer
• 金额: $ 38.28万
• 依托单位: CARNEGIE-MELLON UNIVERSITY
• 依托单位国家: 美国
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-09-01 至 2022-08-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/10021665
• 关键词: Acceleration; Address; Amputees; Behavior; Biological Sciences; Biomedical Technology; Communities; Complex; Data; Development; Elderly; Engineering; Environment; Foundations; Gait; Goals; Health; Human; Intelligence; Learning; Limb Prosthesis; Locomotion; Lower Extremity; Mission; National Institute of Biomedical Imaging and Bioengineering; Population; Prosthesis; Quality of life; Rehabilitation therapy; Research; Robot; Self-Help Devices; Sensory; Spinal cord injury patients; Stroke; System; Target Populations; Technology; Time; collaborative environment; cyber physical; design; exoskeleton; experimental study; gait examination; gait rehabilitation; human subject; improved; innovation; mobility aid; mobility rehabilitation; multisensory; next generation; physical science; prototype; robot exoskeleton; sensor

Today, even normal locomotion is difficult to master for people who depend on prostheses or exoskeletons for mobility and rehabilitation, and there is a clear understanding in the wearable robotics community that a more interactive control of artificial limbs will be required than is common today to overcome this limitation. This project embraces such an interactive control. A cyber-physical approach to control is pursued, in which the artificial limb takes advantage of rich sensory information to continuously reason about and adapt its behavior to both the user and the environment in a way that improves locomotion stability, robustness and versatility. The specific aims of the proposed research are to establish this cyber-physical approach for artificial limbs, to develop multi-sensory and highly dynamic prototype exoskeletons and prostheses that enable its sensor-rich and data-intensive implementation, and to evaluate the resulting controller benefits in human subject experiments. The project combines two teams who will integrate their complementary expertise in legged dynamics and control, state estimation and learning, sensor fusion, mechatronic design, real-time control, and gait analysis to achieve these aims. The long-term goal of this research is to improve the quality of life for people who depend on artificial limbs for mobility and gait rehabilitation, with target populations ranging from lower limb amputees to stroke and spinal cord injured patients to older adults requiring mobility aids. The project directly relates to the NIBIB mission of improving health by development and acceleration of biomedical technologies. In particular, with its focus on next generation human-robot systems for improving gait assistance and rehabilitation, the project addresses NIBIB's strategic goal of developing innovative biomedical technologies that integrate engineering with the physical and life sciences to solve complex problems and improve health.

如今，对于依赖假肢或依靠假肢的人来说，即使是正常的运动也很难掌握。 用于移动和康复的外骨骼，对可穿戴机器人有清晰的认识 社区认为，将需要比当今常见的更具交互性的假肢控制 克服这个限制。该项目采用了这样的交互式控制。一种网络物理方法 追求控制，其中假肢利用丰富的感觉信息不断地 以改进的方式推理并调整其行为以适应用户和环境 运动稳定性、坚固性和多功能性。拟议研究的具体目标是 建立这种用于假肢的网络物理方法，以开发多感官和高度动态的 原型外骨骼和假肢，使其能够实现丰富的传感器和数据密集型的实施，以及 评估在人体实验中产生的控制器益处。该项目结合了两个 团队将整合腿部动力学和控制、状态估计方面的互补专业知识 和学习、传感器融合、机电一体化设计、实时控制和步态分析来实现这些 目标。 这项研究的长期目标是提高依赖人工的人们的生活质量 肢体活动和步态康复，目标人群范围从下肢截肢者到 中风和脊髓损伤患者以及需要助行器的老年人。该项目直接涉及 NIBIB 的使命是通过开发和加速生物医学技术来改善健康。在 特别是，其重点是下一代人机系统，以改善步态辅助和 康复，该项目实现了 NIBIB 开发创新生物医学的战略目标 将工程与物理和生命科学相结合以解决复杂问题的技术 改善健康。