NSF-CPS-Medium: Collaborative Research: Design and development of a cybernetic exoskeleton for hand-wrist rehabilitation through the integration of human passive properties

NSF-CPS-Medium：合作研究：通过整合人类被动特性，设计和开发用于手腕康复的控制论外骨骼

• 批准号: 1135916
• 负责人: Marcia O'Malley
• 金额: $ 48万
• 依托单位: William Marsh Rice University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2011
• 资助国家: 美国
• 起止时间: 2011-09-01 至 2017-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1135916&HistoricalAwards=false
• 关键词: NSF; CPS; Medium; Collaborative; Research

Robotic devices are excellent candidates for delivering repetitive and intensive practice that can restore functional use of the upper limbs, even years after a stroke. Rehabilitation of the wrist and hand in particular are critical for recovery of function, since hands are the primary interface with the world. However, robotic devices that focus on hand rehabilitation are limited due to excessive cost, complexity, or limited functionality. A design and control strategy for such devices that bridges this gap is critical. The goals of the research effort are to analyze the properties and role of passive dynamics, defined by joint stiffness and damping, in the human hand and wrist during grasping and manipulation, and then mimic such properties in a wrist-hand exoskeleton for stroke rehabilitation. The project will culminate with device testing in collaboration with rehabilitation clinicians.A significant problem in robotic rehabilitation is how to provide assisted movement to the multiple degrees of freedom of the hand in order to restore motor coordination and function, with a system that is practical for deployment in a clinical environment. Armed with a clearer understanding of the mechanisms underlying passive dynamics and control of systems exhibiting such behavior, this project will inform the design of more effective wrist/hand rehabilitation devices that are feasible for clinical use. In addition, the proposed project will create a unique interdisciplinary environment enabling education, training, and co-advising of graduate students, undergraduate research, and significant and targeted outreach activities to underrepresented groups in science and engineering.

机器人设备是提供重复和密集练习的出色候选者，这些练习可以恢复上肢的功能使用，甚至在中风后几年。手腕和手的康复尤其对于恢复功能至关重要，因为手是与世界的主要界面。 但是，由于成本过高，复杂性或功能有限，专注于手部康复的机器人设备受到限制。桥接此差距的设备的设计和控制策略至关重要。研究工作的目标是分析被动动力学的性质和作用，这是由关节刚度和阻尼，在抓握和操纵过程中人的手和腕部中定义的，然后在手腕外骨骼中模仿中风康复中的这种特性。该项目将与康复临床医生合作通过设备测试达到高潮。机器人康复的重大问题是如何为手部的多个自由度提供辅助运动，以便恢复运动协调和功能，该系统与在临床环境中部署的系统实用。 该项目对被动动力学的机制有了更清晰的了解，并控制了表现出这种行为的系统的控制，该项目将为设计更有效的腕部/手部康复设备的设计提供信息，这些设备可用于临床使用。此外，拟议的项目将创建一个独特的跨学科环境，以实现教育，培训和共同审议研究生，本科研究以及对科学和工程领域代表性不足的团体的重要和有针对性的外展活动。