RAPD: Eye-Hand Coordination Assessment/Therapy Using a Robotic Haptic System

RAPD：使用机器人触觉系统进行眼手协调评估/治疗

• 批准号: 0828492
• 负责人: Norali Pernalete
• 金额: $ 22万
• 依托单位: Cal Poly Pomona Foundation, Inc.
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2009
• 资助国家: 美国
• 起止时间: 2009-01-01 至 2011-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0828492&HistoricalAwards=false
• 关键词: RAPD; Eye; Hand; Coordination; Assessment

CBET-0828492PernaleteChildren with genetic anomalies or neurological disorders often require treatment in order to improve their eye-hand coordination and grip strength so that they may increase their level of participation in classroom and daily living activities [15]. The goal of this project is to develop a robotic haptic system that assesses and improves the eye-hand coordination and strength of children with these challenges. To attain this goal, the current thinking regarding the relationship between coordination and grip strength will be assessed and the population of children who could benefit the most from this research will be identified (Objective One). Next, six tasks with distinguishable levels of difficulty will be identified based upon a detailed analysis of patterns (Objective Two). Algorithms that support the children?s use of the robotic devices, but which do not override the commands made by the child, will be incorporated into the system (Objective Three). A fuzzy logic-based intelligent decision support system will be integrated into the proposed system which will facilitate the selection of tests by the system based upon accuracy and time measurements (Objective Four). In this project, handwriting serves as the measurable outcome due to the broader implications of enhanced writing skills on academic performance tasks such as reading, writing, and speaking. Learning to write is an important and complex occupation of children [5, 10]. Further, writing is the primary way for students to communicate with and to display what has been learned [14]. In a public school setting, problems with handwriting or drawing typically result in referrals for occupational therapy services [9]. Improvements in eye-hand coordination will also enhance the ability of children to perform daily living tasks (dressing, feeding), which in turn, may result in more opportunities for employment and other contributions to society as they enter adulthood. The testbed to be used consists of a six-degrees-of-freedom force-reflecting haptic interface device, PHANToM - with the software development toolkits. The intellectual merit of this project is to provide innovative research to improve eye-hand coordination, which in turn will allow children to increase their participation in various occupational activities including those of daily living and in the classrooms (i.e., handwriting). The system will use robotic mapping from a haptic user interface to a virtual environment along with an intelligent decision support system. In the case of the eye-hand coordination, we employ the sense of touch because the individual does not possess a well-developed visual feedback to control his/her movements. The principle investigator (PI) has conducted extensive research in the application of haptics to the execution of various occupational therapy tests by people with disabilities. In addition, the PI has close working relationships with the Rehabilitation Robotics Laboratory at the University of South Florida and with the Occupational Therapy Department at Western Michigan University and is exploring local collaborations with Rancho Los Amigos National Rehabilitation Center. Preliminary data [13] obtained from a single subjects study of children diagnosed with eye-hand coordination problems indicate an improvement in the ability of the children to execute and complete the tasks. The results suggest that this proposed system could be used for assessment and training purposes. Also, the data suggests that the introduction of the haptic rendering capabilities, including the force feedback, offers special benefit and measures the impact on eye-hand coordination and the occupation of handwriting. The broader impact is two-fold: It provides innovative research in rehabilitation robotics to the engineering and the health sciences community and its integration into the curriculum at the undergraduate and graduate levels within the various departments in the College of Engineering represents a new area of research for students. They will be able to experience the interdisciplinary nature of Robotic Systems within the context of Rehabilitation Engineering. Given the preliminary data, this system has the potential for reducing the burden and costs associated with the use of a trained professional to assess the disability and to conduct training sessions with the individual. Furthermore, this design may enhance the type and amount of data that clinicians use to assess and plan the respective treatment for improving eye-hand coordination and grasp strength. Finally, an extension of this system could include the identification of specific job tasks that could be accessed through a computer desktop as a training tool for individuals with various forms of disabilities in activities of daily living (ADL).

CBET-0828492 Pernalete患有遗传异常或神经系统疾病的儿童通常需要治疗，以改善他们的眼手协调和握力，从而提高他们在课堂和日常生活活动中的参与水平[15]。该项目的目标是开发一个机器人触觉系统，评估和改善这些挑战的儿童的眼手协调和力量。为了实现这一目标，将评估目前关于协调性和握力之间关系的想法，并确定能够从本研究中获益最多的儿童人群（目标一）。接下来，将根据对模式的详细分析（目标二）确定六个具有可区分难度的任务。支持孩子的算法？儿童使用机器人设备，但不推翻儿童的命令，将被纳入系统（目标三）。一个模糊逻辑为基础的智能决策支持系统将被集成到拟议的系统，这将有利于选择的测试系统的基础上的准确性和时间测量（目标四）。在这个项目中，手写作为可衡量的结果，由于更广泛的影响，提高写作技能的学术表现任务，如阅读，写作和口语。学习写作是儿童的一项重要而复杂的职业[5，10]。此外，写作是学生交流和展示所学知识的主要方式[14]。在公立学校环境中，书写或绘画的问题通常会导致职业治疗服务的转介[9]。眼手协调能力的提高还将提高儿童完成日常生活任务（穿衣、喂养）的能力，这反过来又可能导致他们在进入成年后有更多的就业机会和对社会的其他贡献。将使用的试验台包括一个六自由度的力反射触觉接口设备，PHANToM -与软件开发工具包。该项目的智力价值是提供创新研究，以改善手眼协调，这反过来又将使儿童能够更多地参与各种职业活动，包括日常生活和课堂活动（即，手写）。该系统将使用从触觉用户界面到虚拟环境的机器人映射沿着智能决策支持系统。在眼手协调的情况下，我们使用触觉，因为个体不具备良好的视觉反馈来控制他/她的动作。首席研究员（PI）对触觉在残疾人执行各种职业治疗测试中的应用进行了广泛的研究。此外，PI与南佛罗里达大学的康复机器人实验室和西密歇根大学的职业治疗系建立了密切的工作关系，并正在探索与兰乔洛斯阿米戈斯国家康复中心的当地合作。从被诊断患有眼手协调问题的儿童的单一受试者研究中获得的初步数据[13]表明，儿童执行和完成任务的能力有所改善。结果表明，该拟议系统可用于评估和培训目的。此外，数据表明，触觉渲染功能，包括力反馈的引入，提供了特殊的好处，并衡量了对手眼协调和手写占用的影响。更广泛的影响是双重的：它为工程和健康科学界提供了康复机器人的创新研究，并将其整合到工程学院各部门的本科和研究生课程中，为学生提供了一个新的研究领域。他们将能够在康复工程的背景下体验机器人系统的跨学科性质。根据初步数据，该系统有可能减少与使用训练有素的专业人员评估残疾和与个人进行培训有关的负担和费用。此外，这种设计可以增强临床医生用于评估和计划相应治疗的数据的类型和数量，以改善眼手协调和抓握强度。最后，这一系统的扩展可以包括确定具体的工作任务，这些任务可以通过计算机桌面进行访问，作为日常生活活动中各种形式残疾人的培训工具。