NRI: Novel platform for rapid exploration of robotic ankle exoskeleton control st

NRI：快速探索机器人踝外骨骼控制技术的新型平台

基本信息

批准号：
8737317
负责人：
Gregory Stephen Sawicki
金额：
$ 13.51万
依托单位：
NORTH CAROLINA STATE UNIVERSITY RALEIGH
依托单位国家：
美国
项目类别：
财政年份：
2013
资助国家：
美国
起止时间：
2013-09-18 至 2018-07-31
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/8737317
关键词：
Address Aging Ankle Area Behavior Behavior Control Biomechanics Caring Cerebral Palsy Clinical Communities Development Devices Disabled Persons Educational process of instructing Effectiveness Environment Exhibits Faculty Fascicle Female Foundations Gait Home environment Human Impairment Individual Interdisciplinary Study Joints Laboratories Lead Learning Locomotion Lower Extremity Measurable Measures Mechanics Metabolic Methods Metric Minority Modeling Muscle Nervous System Trauma Neurologic Neuromechanics Orthotic Devices Patients Performance Physiological Private Sector Prosthesis Recruitment Activity Reflex control Rehabilitation therapy Research Infrastructure Research Personnel Resources Robot Robotics Self-Help Devices Speed Spinal cord injury Stroke Students Supervision Symptoms Techniques Tendon structure Testing Time Torque Training Underrepresented Minority Walking Work aging population ankle joint base cost design disability electric impedance evidence base exoskeleton experience flexibility foot graduate student hemiparesis improved insight lectures novel post stroke programs public health relevance relating to nervous system research study response success technology development tool trend undergraduate student

项目摘要

DESCRIPTION (provided by applicant): The objective of this project is to compare different techniques for assisting individuals with stroke-related mobility impairments using robotic ankle orthoses. Several promising assistance techniques have been developed for robotic prostheses and rehabilitation platforms. Many of these, however, have not yet been applied to powered orthoses or exoskeletons, and few have been applied at the ankle joint, despite its importance in locomotion. The efficacy of these techniques has not been tested consistently, and techniques have not been optimized for individuals with stroke nor directly compared against each other. The proposed study addresses these needs by directly comparing physiological responses to different assistance techniques provided by a versatile robotic platform. A standardized set of quantitative performance metrics are proposed, including measures of effort, preferred speed, and stability. An ankle exoskeleton emulator, previously developed by the investigators, is proposed for use due to its unique ability to express a wide range of robotic functions in a single platform. Each promising technique will first be programmed and verified in pilot tests with the emulator. Multi-dimensional parameter studies will then be performed for each assistance technique, first on subjects without neurological impairment and then on subjects with hemiparesis following stroke. Results will be used to identify optimal parameters for each approach. Finally, an across-technique comparison will be performed using optimal parameters. These tests are expected to provide a scientific foundation for the design and prescription of robotic ankle-foot orthoses that manage symptoms for millions of individuals with stroke. Results will inform improved orthosis designs and test feasibility of designs that are both effective and low-cost. Together, these results are expected to provide the evidence base to make post-stroke care more effective, less expensive, and manageable by fewer clinical practitioners, addressing the needs of our aging population and potentially leading to reduced disparities in treatment.

描述（由申请人提供）：该项目的目的是比较使用机器人脚踝矫形器帮助患有中风相关的移动性障碍的个人的不同技术。已经为机器人假体和康复平台开发了几种有希望的援助技术。但是，其中许多尚未应用于动力的矫形器或外骨骼，尽管它在运动中很重要，但在脚踝关节上很少使用。这些技术的功效尚未经过一致测试，并且尚未针对中风的个体进行优化，也没有直接相互比较。拟议的研究通过直接比较多功能机器人平台提供的不同援助技术来解决这些需求。提出了一组标准化的定量性能指标，包括努力度量，首选速度和稳定性。先前由研究者开发的踝关节外骨骼模拟器，由于其独特的能力在单个单一中表达广泛的机器人功能，因此提出了使用平台。每种有前途的技术将首先通过模拟器进行编程和验证。然后，将对每种辅助技术进行多维参数研究，首先是在没有神经系统障碍的受试者上，然后在中风后进行偏瘫的受试者。结果将用于识别每种方法的最佳参数。最后，将使用最佳参数进行跨技术比较。这些测试有望为机器人踝部矫形器的设计和处方提供科学基础，该矫形器管理数百万中风的人的症状。结果将为改进的矫形器设计和测试可行性提供信息，这些设计既有效又低成本。预计这些结果将提供证据基础，以使中风后护理更有效，更便宜，并且可以由更少的临床从业人员来管理，从而满足我们老龄化人口的需求，并有可能导致治疗差异降低。