CPS: Synergy: Cyber-Enabled Repetitive Motions in Rehabilitation

该项目将在人机交互科学方面取得突破，并将对锻炼机器技术产生持久影响。拟议的网络运动机(CEEM)根据用户的需要进行调整，寻求在保证安全性的同时最大限度地提高运动的有效性。CEEM测量和处理生物力学变量，并对其自身的阻力进行调整，并生成供锻炼者遵循的线索。CEEM可以通过软件重新配置，这允许使用相同的硬件进行广泛的练习。两台样机将在学生运动员群体中进行现场测试，并用于验证项目目标。这些原型将是传播和推广以及学生参与的宝贵工具。这项研究的结果产生的影响超出了运动条件：同样的基础和方法可以用于设计康复机器、宇航员的运动对抗装置以及老年人和残疾人的定制运动装置。因此，该项目有可能在各个层面改善社会成员的健康。本研究将在生物力学建模与实时肌肉骨骼状态估计、估计理论与无味H_无穷估计、控制理论与人机交互动力学、实时系统的微进化优化等方面为计算机物理系统科学奠定基础。所提出的赛博运动机(CEEM)是高度可重构的设备，可适应用户追求的优化目标，即最大限度地激活目标肌肉群。机器适应通过端口阻抗调制发生，并生成最佳提示供锻炼者遵循。该项目的目标有三个：i)在人机系统领域发展基础性的计算机物理科学和技术；ii)开发先进运动机器的建模、设计、控制和优化的新方法；以及iii)应用上述成果开发两个定制的CEEM：一个赛艇测力仪和一个二自由度阻力机器。

The project will produce breakthroughs in the science of human-machine interaction and will produce lasting impacts on exercise machine technologies. The proposed Cyber-Enabled Exercise Machines (CEEMs) adapt to their users, seeking to maximize the effectiveness of exercise while guaranteeing safety. CEEMs measure and process biomechanical variables and generate adjustments to its own resistance, and generate cues to be followed by the exerciser. CEEMs are reconfigurable by software, which permits a wide range of exercises with the same hardware. Two prototype machines will be field-tested with the student-athlete population and used to validate project goals. The prototypes will be a valuable instrument for dissemination and outreach, as well as for student engagement. The outcomes of this research have repercussions beyond athletic conditioning: the same foundations and methodologies can be followed to design machines for rehabilitation, exercise countermeasure devices for astronauts, and custom exercise devices for the elderly and persons with disabilities. Thus, the project has the potential to improve health of society members at various levels. This research will contribute to the foundations of cyber-physical system science in the following aspects: biomechanical modeling and real-time musculoskeletal state estimation; estimation theory and unscented H-infinity estimation; control theory and human-machine interaction dynamics, and micro-evolutionary optimization for real-time systems. The proposed Cyber-Enabled Exercise Machines (CEEMs) are highly reconfigurable devices which adapt to the user in pursuit of an optimization objective, namely maximal activation of target muscle groups. Machine adaptation occurs through port impedance modulation, and optimal cues are generated for the exerciser to follow. The goals of the project are threefold: i) development of foundational cyber-physical science and technology in the field of human-machine systems; ii) development of new approaches to modeling, design, control and optimization of advanced exercise machines, and iii) application of the above results to develop two custom-built CEEMs: a rowing ergometer and a 2-degree-of-freedom resistance machine.