CPS: Synergy: Multi-Robot Cyberphysical System for Assisting Young Developmentally-Delayed Children in Learning to Walk

CPS：协同：帮助发育迟缓儿童学习行走的多机器人网络物理系统

• 批准号: 1329363
• 负责人: Eugene Goldfield
• 金额: $ 100万
• 依托单位: Harvard University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2013
• 资助国家: 美国
• 起止时间: 2013-10-01 至 2017-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1329363&HistoricalAwards=false
• 关键词: CPS; Synergy; Multi; Robot; Cyberphysical

This project is a modular, computationally-distributed multi-robot cyberphysical system (CPS) for assisting young developmentally-delayed children in learning to walk. The multi-robot CPS is designed to function in the same way as an adult assisting a child in learning to walk (addressing the research target area of a science of CPS by introducing developmental rehabilitation robotics). It addresses the research target area of new CPS technology by introducing a multi-robot system: 1) a multi-cable scaffold robot that continuously modulates the stabilization of medio-lateral and anterior-posterior sway, and 2) a soft, wearable, exosuit robot with embedded sensing and actuation, which assists with stance push off and swing flexion. The objective is to build a prototype multi-robot CPS and perform tests with human subjects to evaluate the CPS functionality, safety, and interoperability (addressing the research target area of engineering CPS). Longitudinal tests of typically developing and developmentally delayed children learning to walk with or without assistance of the multi-robot CPS are conducted in a motion capture laboratory. Body center of mass behavior as well as gait parameters of walking are measured as the two robots work together to assist the child in maintaining balance and propelling the body forward with each step.This exosuit/scaffolding multi-robot technology will advance knowledge within engineering with bio-inspired soft components, including miniature pneumatic artificial muscle actuators with embedded sensors that enable the control of the muscles in real time. The bio-inspired architecture and material components of the exosuit will make possible a new generation of ?smart fabric? that acts in concert with the body for efficient energy use. The exosuit is part of a larger modular design that makes it possible to couple it to additional assistive robots via a modular communications network. Together, the exosuit, scaffold robot, and wireless communications network for modular CPS, will advance knowledge for the engineering of other CPS that require high levels of interoperability and safety, such as medical CPS. The multi-robot CPS is designed for children who are developmentally delayed as a result of early brain injury. The long term consequences of early brain injury, e.g., in children born prematurely, constitute a major health problem and a significant emotional and financial burden for families and society. The use of a multi-robot cyberphysical system as part of a rehabilitation program may be able to harness the potential of the nervous system for plasticity, the ability to re-organize its structure, function, and connections. The focus is on young children with a history of early brain injury due to prematurity. However, this new cyberphysical system will have a much broader impact in restoring function throughout the life span. Neuroplasticity is not just an immediate response to injury, but occurs throughout the developmental period, providing an opportunity to promote repair and re-education, and restore function. A key to this broad application is the developmentally-motivated, modular structure and interoperability of the exosuit.

该项目是一个模块化的，计算分布式多机器人网络物理系统（CPS），用于帮助年轻的发育迟缓儿童学习走路。多机器人CPS的设计功能与成人帮助儿童学习走路的方式相同（通过引入发育康复机器人技术来解决CPS科学的研究目标领域）。它通过引入多机器人系统来解决新CPS技术的研究目标领域：1）多电缆支架机器人，其连续调节中-外侧和前-后摇摆的稳定性，以及2）具有嵌入式传感和致动的柔软、可穿戴、外骨骼机器人，其辅助站立推离和摆动屈曲。我们的目标是建立一个原型多机器人CPS和人类受试者进行测试，以评估CPS的功能，安全性和互操作性（解决工程CPS的研究目标领域）。纵向测试的典型发展和发育迟缓的儿童学习走路或没有援助的多机器人CPS进行动作捕捉实验室。当两个机器人一起工作时，测量身体质心行为以及行走的步态参数，以帮助儿童保持平衡并在每一步中推动身体向前。这种外装/脚手架多机器人技术将通过生物灵感的软部件，包括微型气动人工肌肉致动器和嵌入式传感器，使肌肉能够在真实的时间内控制，推进工程知识。生物启发的建筑和材料组件的外装将成为可能的新一代？智能面料？它与身体协同作用，以有效地利用能量。该机器人是一个更大的模块化设计的一部分，可以通过模块化通信网络将其与其他辅助机器人耦合。外装护具、脚手架机器人和模块化CPS的无线通信网络将共同推进其他CPS工程的知识，这些CPS需要高水平的互操作性和安全性，例如医疗CPS。多机器人CPS是专为儿童谁是发展迟缓的结果，早期脑损伤。早期脑损伤的长期后果，例如，对早产儿来说，这是一个重大的健康问题，也是家庭和社会的重大情感和经济负担。使用多机器人网络物理系统作为康复计划的一部分，可能能够利用神经系统的可塑性潜力，重新组织其结构，功能和连接的能力。重点是由于早产而有早期脑损伤史的幼儿。然而，这种新的网络物理系统将在整个生命周期中恢复功能方面产生更广泛的影响。神经可塑性不仅仅是对损伤的即时反应，而是发生在整个发育期，为促进修复和再教育以及恢复功能提供了机会。这种广泛应用的关键是机器护甲的开发动机，模块化结构和互操作性。