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，它将产生施加在患者身上的力场。S骨盆区促进步态异常患者的跑步机步态再训练；2)设计并实现高阶阻抗控制策略，实现顺畅的人机交互，促进步态再训练；3) RGR Trainer对脑卒中后患者踏车步态再训练的测试，将骨盆区触觉反馈与视觉反馈相结合。该项目的智力优势在于通过骨盆提供的触觉反馈研究患者与机器人的互动，以及在机器人辅助中风后患者康复过程中触觉和视觉反馈模式的整合研究。该项目的教育、更广泛的影响和推广活动是：1)启动大学生康复机器人；2)与马萨诸塞州高中建立生物医学工程和机器人合作项目；3)在重大会议上组织关于机器人技术和跑步机步态再训练的专题会议；4)建立机器人和跑步机步态康复设备的网页。

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.