CPS: TTP Option: Synergy: Human-Machine Interaction with Mobility Enhancing Soft Exosuits

中风是美国长期残疾的主要原因，目前约有700万中风幸存者生活在美国，对于患有神经系统疾病的患者，已经证明有限的步态速度通常导致主要限于家庭的行走。与包含刚性连杆元件的传统外骨骼不同，这项工作的愿景是使用诸如纺织品的软材料来提供更适形、不显眼和顺应性的方式来与人体接合的外骨骼服。这代表了过去半个世纪人们看待和设计可穿戴机器人的范式的根本变化。这样的解决方案将具有超出中风患者群体的广泛影响，并且可以为患有脑瘫的儿童或患有肌肉无力的老年人提供益处。此外，还计划为患者在环网络物理系统创建一套新颖的教学教育工具包，这些工具包将通过在线门户和CPS虚拟组织（CPS-VO）共享。通过患者在环CPS，患者，物理服，计算控制算法和任务/环境形成一个系统，其中所有元素都需要无缝交互。通过涉及广泛的人类受试者研究的建模和实验方法，该团队旨在创建一个统一的工程，生物力学和生理框架，用于设计和评估患者在环CPS，其中包括实时适应患者的合作控制器，以确保集成系统的安全性和可靠性。 具体而言，该项目将寻求获得对以下方面的基本理解：（1）分析和实验表征力如何通过底层软组织从这些软系统传递到患者，以产生辅助，（2）通过监测生物力学，向患者施加最佳的辅助幅度和时机，以促进更对称和自然的步态，生理和服装传感器数据，以及（3）融合来自监测患者运动和相互作用力的不同传感器的信息，以创建具有协作控制器的集成CPS，该协作控制器可以适应患者的非周期性运动。

Stroke is the leading cause of long-term disability in the US with approximately 7 million stroke survivors living in the US today and for patients with neurological disorders, it has been shown that limited gait velocity commonly results in walking that is predominantly restricted to the household. Unlike traditional exoskeletons which contain rigid linkage elements, the vision for this work is for exosuits that use soft materials such as textiles to provide a more conformal, unobtrusive and compliant means to interface to the human body. This represents a fundamental change in the paradigm of how people have viewed and designed wearable robots for the last half a century. Such a solution would have broad impact beyond the stroke patient population and could provide benefit to children with Cerebral Palsy or elderly individuals with muscle weakness. In addition there are plans to create a set of novel instructional educational toolkits for patient-in-the-loop cyber-physical systems that will be shared via an online portal and the CPS Virtual Organization (CPS-VO).With a patient-in-the-loop CPS, the patient, the physical suit, the computational control algorithms and the task/environment form a system in which all of the elements need to seamlessly interact. Through a modeling and experimental approach involving extensive human subjects studies, the team aims to create a unified engineering, biomechanical and physiological framework for designing and evaluating patient-in-the-loop CPS that include co-operative controllers that adapt in real-time to the patient to ensure safety and reliability an integrated system. Specifically the project will seek to gain a fundamental understanding of how to (1) analytically and experimentally characterize how forces are transmitted from these soft systems to the patient through the underlying soft tissue so as to generate assistance, (2) apply the optimal magnitude and timing of assistance to the patient to promote a more symmetric and natural gait by monitoring biomechanical, physiological and suit sensor data and (3) fuse information from different sensors monitoring patient motion and interaction forces to create an integrated CPS with a co-operative controller than can adapt to non-periodic movements of the patient.