EFRI-M3C: Partnered Rehabilitative Movement: Cooperative Human-robot Interactions for Motor Assistance, Learning, and Communication

EFRI-M3C：合作康复运动：用于运动辅助、学习和交流的人机合作交互

• 批准号: 1137229
• 负责人: Lena Ting
• 金额: $ 200万
• 依托单位: Emory 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 2017-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1137229&HistoricalAwards=false
• 关键词: EFRI; M3C; Partnered; Rehabilitative; Movement

Our vision is to develop caregiver robots that interact fluidly and flexibly with humans during functionalmotor activities, while providing motor assistance, enhancement, and communication to facilitate motorlearning. However, we currently lack theories to understand how rehabilitation and movement therapistsprovide timely and appropriate physical feedback and assistance to improve mobility in individuals withmotor impairments. To develop devices that could accompany an individual as both assistant andmovement therapist, our goal is to study human motor coordination during cooperative physicalinteractions with a humanoid assistive robot. We will use rehabilitative partner dance as a paradigm toexamine a sensory-motor theory of cooperative physical interactions relevant to walking and otherfunctional motor activities. We will use a "partnered box step", a constrained and defined pattern ofweight shifts and directional changes, as a paradigm for a cooperative physical interaction with welldefinedmotor goals.Objectives: To 1) experimentally verify a hierarchical theory of human sensory-motor control andlearning and 2) develop predictive models of whole-body human movement for cooperative physicalinteractions with machines. Over four years, we will test our models by demonstrating the successfulparticipation of the robot in a box step as leader or follower and adapt its movements to the motor skilllevel of a human partner.Intellectual Merit: Our work will provide transformative experimental, theoretical, and practicalinterdisciplinary frameworks that will forge new paths toward autonomous cooperative robots withphysical intelligence to enhance, assist, and improve motor skills in humans with varying motorcapabilities. These advances will aid prosthetic and robotic design and may advance our understanding ofthe brain.Broader Impacts: The expected project outcomes would have long-term impact on the quality of life ofmillions of Americans by improving fitness, motor skills, and social engagement. Applications includehealthcare devices or sports robots that entertain and improve fitness. We will provide seminars onmobility-related issues and rehabilitative dance instruction to older adult living communities andpopulations with motor impairments. The broad appeal and social nature of this work will likely garnermedia publicity that will increase public interest in science and technology.

我们的愿景是开发护理机器人，在功能性运动活动中与人类流畅灵活地互动，同时提供运动辅助、增强和沟通，以促进运动学习。然而，我们目前缺乏理论来理解康复和运动治疗师如何提供及时和适当的身体反馈和帮助，以改善运动障碍患者的活动能力。为了开发既可以陪伴个人作为助手又可以作为运动治疗师的设备，我们的目标是在与类人辅助机器人的合作物理交互过程中研究人类的运动协调。我们将使用康复伙伴舞蹈作为范式来检验与步行和其他功能性运动活动相关的合作身体相互作用的感觉-运动理论。我们将使用“合作框步”，这是一种约束和定义的重量转移和方向变化模式，作为具有明确运动目标的合作物理交互的范例。目的：1)实验验证人类感觉-运动控制和学习的层次理论；2)为与机器的合作物理交互开发人类全身运动的预测模型。在四年的时间里，我们将通过展示机器人作为领导者或追随者在方框步中的成功参与来测试我们的模型，并使其运动适应人类伙伴的运动技能水平。智力优势：我们的工作将提供变革性的实验、理论和实践跨学科框架，为具有物理智能的自主协作机器人开辟新的道路，以增强、协助和改善具有不同运动能力的人类的运动技能。这些进步将有助于假肢和机器人的设计，并可能促进我们对大脑的理解。更广泛的影响：预期的项目成果将通过改善健康、运动技能和社会参与，对数百万美国人的生活质量产生长期影响。应用包括医疗设备或运动机器人，娱乐和改善健康。我们将为生活在社区的老年人和运动障碍人群提供与运动相关的问题和康复舞蹈指导的研讨会。这项工作的广泛吸引力和社会性质可能会吸引媒体宣传，从而增加公众对科学技术的兴趣。