RI - Medium: Pelvic Obliquity Rehabilitation in Stroke Patients Using Robotically Generated Force-Fields

这个为期3年的项目的研究目标是：1）开发一种机器人设备，称为机器人步态康复（RGR）训练器，它将产生施加在病人身上的力场？的骨盆区域，以促进跑步机步态训练异常步态模式的患者; 2）高级别阻抗控制策略的设计和实施，以实现平滑的人机交互，从而促进步态训练; 3）RGR训练器的测试，用于中风后患者的跑步机步态训练，将骨盆区域的新型触觉反馈与先前开发的视觉反馈相结合。 该项目的学术价值是研究通过骨盆提供的触觉反馈进行的患者-机器人交互，以及研究在中风患者的机器人辅助康复过程中触觉和视觉反馈模式的整合。该项目的教育、更广泛的影响和推广活动是：1）启动康复机器人的本科生; 2）与马萨诸塞州高中建立生物医学工程和机器人技术合作项目; 3）在一次重要会议上组织关于机器人技术和跑步机步态再训练的特别会议; 4）建立机器人和跑步机步态康复设备领域的网页。

The research objectives of this 3-year project, are: 1) The development of a robotic device, called Robotic Gait Rehabilitation (RGR) Trainer, which will generate force-fields applied at the patient?s pelvic area to facilitate treadmill gait retraining in patients with abnormal gait patterns; 2) The design and implementation of high level impedance control strategies to achieve a smooth human-robot interaction thus facilitating gait retraining; 3) The testing of the RGR Trainer for treadmill gait retraining in post-stroke patients, integrating the novel haptic feedback in the pel-vic area with previously developed visual feedback. The intellectual merit of the proposed pro-ject is the study of patient-robot interaction via haptic feedback provided through the pelvis and the study of the integration of haptic and visual feedback modalities during robot-assisted reha-bilitation in post-stroke patients.The educational, broader impact and outreach activities of this project are: 1) The initiation of undergraduate students in rehabilitation robotics; 2) The establishment of collaborative projects on biomedical engineering and robotics with Massachusetts high schools; 3) The organization of a special session on robotics and treadmill gait retraining at a major conference; 4) The estab-lishment of a webpage in the area of robotic and treadmill gait rehabilitation devices.