NRI: Simulation Guided Design To Optimize the Performance of Robotic Lower Limb Prostheses

NRI：仿真引导设计优化机器人下肢假肢的性能

• 批准号: 1526986
• 负责人: Frank Sup
• 金额: $ 63.03万
• 依托单位: University of Massachusetts Amherst
• 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: 2015-09-01 至 2019-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1526986&HistoricalAwards=false
• 关键词: NRI; Simulation; Guided; Design; Optimize

The goal of this project is to use sophisticated computer models of the human body to help design the next generation of robotic prosthetic technologies that maximize mobility for lower-limb amputees. The major outcome of this project will be an improved approach for designing prosthetic devices that reduce loading on the body and make walking easier. The success of this project will improve the quality of life for lower limb amputees by increasing their mobility and their ability to participate in the activities of daily life. The proposed research is especially relevant for older amputees whose residual limbs cannot tolerate significant loading. This award will also support the training of the next generation of engineers and scientists and the development of an innovative STEM robotics program targeted toward middle and high school teachers and their students.This project is focused on creating a new design process for assistive robotic devices that aid people with mobility impairments. Using modeling and simulation, optimal robot forms and controls will be identified. The case study for this project is the development of prostheses for below-knee amputees. The guiding principle of the project is to consider the complete and altered anatomy of the person and develop solutions that are not limited to anthropomorphic mimicry. Detailed musculoskeletal models and optimal control simulations will be used to guide the robotic prosthesis development process towards optimized loading conditions while minimizing metabolic energy consumption. In this process, the optimal prosthesis form and specifications are initially unknown and are generated through predictive simulations. The results will then be reverse-engineered to develop robotic ankle prostheses that enable these optimal gait patterns for below-knee amputees. This approach will later be extended to maximize the performance of other co-robot systems such as exoskeletons and other rehabilitation robots.

该项目的目标是使用复杂的人体计算机模型来帮助设计下一代机器人假肢技术，使下肢截肢者的行动能力最大化。该项目的主要成果将是设计假肢装置的改进方法，以减少身体的负荷并使行走更容易。该项目的成功将通过增加下肢截肢者的行动能力和参与日常生活活动的能力来改善他们的生活质量。这项拟议的研究特别适用于残肢不能承受巨大负荷的老年截肢者。该奖项还将支持对下一代工程师和科学家的培训，以及针对初中和高中教师及其学生的创新STEM机器人项目的开发。该项目专注于创建一种新的辅助机器人设备设计流程，以帮助行动不便的人。利用建模和仿真，将确定最优的机器人形式和控制。这个项目的案例研究是为膝下截肢者开发假体。该项目的指导原则是考虑到人的完整和改变的解剖结构，并开发出不限于拟人化模仿的解决方案。详细的肌肉骨骼模型和最优控制模拟将被用来指导机器人假体开发过程朝着优化负载条件发展，同时将代谢能量消耗降至最低。在这个过程中，最优的假体形式和规格最初是未知的，并通过预测性模拟产生。然后将对结果进行反向工程，以开发机器人脚踝假体，使膝盖以下截肢者能够使用这些最佳步态模式。这种方法稍后将被扩展，以最大限度地提高其他协作机器人系统的性能，如外骨骼和其他康复机器人。