NRI: Active Tendon-Driven Orthosis for Prehensile Manipulation After Stroke

NRI：用于中风后预握操作的主动肌腱驱动矫形器

• 批准号: 1526960
• 负责人: Matei Ciocarlie
• 金额: $ 59.94万
• 依托单位: Columbia University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2015
• 资助国家: 美国
• 起止时间: 2015-08-01 至 2019-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1526960&HistoricalAwards=false
• 关键词: NRI; Active; Tendon; Driven; Orthosis

This project develops wearable and functional hand orthoses for stroke survivors, to act as both assistive and training devices. For daily living, such a device could provide assistance with manipulation tasks, increasing the sense of control and the ability to live independently. For rehabilitation, a wearable orthosis could enable functional training on real-world manipulation tasks, extend training beyond the small number of sessions performed in a clinical setting, and provide distributed training during the course of daily activities rather than block training in designated therapeutic sessions. From a healthcare perspective, this work will enable a shift from devices used in a clinic under medical supervision towards unobtrusive functional orthoses used during daily life. From an engineering perspective, it will advance towards a new class of active wearable systems, controllable by natural movement or similarly intuitive interfaces. New approaches will be required to build a device that is simultaneously dexterous (for complex manipulation), non-intrusive (for daily living) and intuitive to control. To achieve this, we investigate ways to assist joint movement using a network of artificial tendons routed on the surface of the hand and arm, without adding large structural components such as an exoskeleton. A key tenet of our approach is that a hand orthosis can provide meaningful assistance with daily manipulation tasks even when using a number of actuators far smaller than the number of joints in the hand. We will also investigate multiple control methods, including unimanual operation (where endogenous movement of the paretic limb is detected and enhanced) and bilateral operation (where movement of the less affected limb is used to generate control signals for the paretic one).

该项目为中风幸存者开发可穿戴的功能性手部矫形器，作为辅助和训练设备。对于日常生活，这样的设备可以提供操作任务的帮助，增加控制感和独立生活的能力。对于康复，可穿戴矫形器可以实现对真实世界操作任务的功能训练，将训练扩展到临床环境中执行的少量会话之外，并在日常活动过程中提供分布式训练，而不是在指定的治疗会话中进行块训练。从医疗保健的角度来看，这项工作将使医疗监督下的诊所使用的设备转向日常生活中使用的不显眼的功能矫形器。从工程的角度来看，它将朝着一类新的主动可穿戴系统发展，可通过自然运动或类似的直观界面进行控制。将需要新的方法来构建一种同时灵巧（用于复杂操作），非侵入性（用于日常生活）和直观控制的设备。为了实现这一目标，我们研究了使用在手和手臂表面上路由的人工肌腱网络来辅助关节运动的方法，而无需添加大型结构组件，如外骨骼。我们的方法的一个关键原则是，手矫形器可以提供有意义的协助与日常操作任务，即使使用的执行器数量远远小于在手中的关节的数量。我们还将研究多种控制方法，包括单手操作（检测和增强麻痹肢体的内源性运动）和双侧操作（使用受影响较小的肢体的运动来产生麻痹肢体的控制信号）。