Using a humanoid robot to understand and repair sensorimotor control

使用人形机器人理解和修复感觉运动控制

• 批准号: 7794526
• 负责人: Emanuel Todorov
• 金额: $ 28.86万
• 依托单位: UNIVERSITY OF WASHINGTON
• 依托单位国家: 美国
• 财政年份: 2010
• 资助国家: 美国
• 起止时间: 2010-05-13 至 2012-05-12
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/7794526
• 关键词: Address; Air; Articular Range of Motion; Arts; Brain; Characteristics; Complex; Data; Devices; Funding; Hand; Human; Length; Life; Modeling; Movement; Muscle; Prosthesis; Research; Robot; Robotics; Shadowing (Histology); Structure; Testing; Upper Extremity; arm; base; brain machine interface; improved; kinematics; mind control; new technology; repaired

DESCRIPTION (provided by applicant): We request funds to purchase a state-of-the-art robotic arm and hand from Shadow Robot. The device is actuated by 48 air muscles whose compliance and force-length characteristics are similar to human muscles. Furthermore the kinematic structure and range of motion are similar to the human upper limb. The robot will allow us to implement and test models of sensorimotor control. Such models are traditionally based on data from simple experimental tasks, and whether they can scale to the challenging control problems which the brain solves in everyday life remains an open question. The only way to address this question is to try to control a humanoid robot in the way we think the brain controls the body, see where our current ideas fail, and find ways to improve them. In addition the robot will facilitate research in novel technologies for neuro-prosthetic control, especially control of complex hand movements which are poorly understood. The robot will also be used in research on closed-loop brain-machine interfaces.

描述（由申请人提供）：我们请求资金从 Shadow Robot 购买最先进的机械臂和手。该装置由 48 个空气肌肉驱动，其顺应性和力长特性与人类肌肉相似。此外，其运动结构和运动范围与人类上肢相似。该机器人将使我们能够实现和测试感觉运动控制模型。传统上，此类模型基于简单实验任务的数据，它们是否可以扩展到大脑在日常生活中解决的具有挑战性的控制问题仍然是一个悬而未决的问题。解决这个问题的唯一方法是尝试以我们认为大脑控制身体的方式来控制人形机器人，看看我们当前的想法在哪里失败，并找到改进的方法。此外，该机器人还将促进神经假肢控制新技术的研究，特别是对人们知之甚少的复杂手部运动的控制。该机器人还将用于闭环脑机接口的研究。