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

RI - 中：使用机器人生成的力场对中风患者进行骨盆倾斜康复

• 批准号: 0803622
• 负责人: Constantinos Mavroidis
• 金额: --
• 依托单位: Northeastern University
• 依托单位国家: 美国
• 项目类别: Continuing grant
• 财政年份: 2008
• 资助国家: 美国
• 起止时间: 2008-08-01 至 2011-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0803622&HistoricalAwards=false
• 关键词: RI; Medium; Pelvic; Obliquity; Rehabilitation

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.

这个为期 3 年的项目的研究目标是： 1) 开发一种名为机器人步态康复 (RGR) 训练器的机器人设备，它将在患者骨盆区域产生力场，以促进步态异常患者在跑步机上进行步态再训练； 2）设计和实现高水平阻抗控制策略，以实现平滑的人机交互，从而促进步态再训练； 3) 对中风后患者进行跑步机步态再训练的 RGR 训练器进行测试，将骨盆区域的新颖触觉反馈与先前开发的视觉反馈相结合。 该项目的智力价值是通过骨盆提供的触觉反馈来研究患者与机器人的交互，以及在中风后患者的机器人辅助康复过程中研究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）启动康复机器人学本科生； 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）在大型会议上组织关于机器人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。