PFI:AIR - TT: A Novel Bimanual Upper-body Exoskeleton for Stroke Therapy

这个PFI: AIR技术翻译项目的重点是翻译机器人外骨骼技术，为中风患者提供物理治疗。中风是美国长期残疾的主要原因，近80%的中风幸存者经历了某种形式的上肢瘫痪。PI先前的工作已经开发出一种用于上肢康复的复杂外骨骼，称为HARMONY。这项PFI:AIR-TT奖将支持HARMONY的新型控制框架，该框架不仅有可能改善中风患者的康复效果，还可以改善上肢神经和肌肉骨骼损伤患者的康复效果。目前，只有一种商用机器人可以为上半身提供物理治疗。HARMONY通过以下功能提供了对该系统的改进：i) HARMONY可以为整个肩部运动提供动力；ii) HARMONY是双手操作的，因此可以同时向双臂提供治疗，这为新型双手治疗开辟了可能性；HARMONY允许定制机器人在每个关节处的力，这对物理治疗至关重要。该项目将开发一个新的控制框架，以确保患者参与并提供适当的帮助，以便受试者能够完成预期的任务。为了实现这一目标，将追求以下两个具体目标：目标1)开发和测试用于多自由度、双手人外骨骼交互的新型控制框架；目标2)通过健康受试者的实验证明自适应控制器的有效性。该小组由两名具有商业和商业化专业知识的参与者组成，他们将加深对商业方面的理解，包括知识产权、监管问题和市场需求，并将制定商业化计划。在具有商业和商业化经验的人员的指导下，并专注于开发商业化计划，该项目将为在将基础研究转化为部署技术的过程中教育学术参与者创造一个独特的机会。这个项目的成功完成将有助于培养下一代创新者和商业领袖。

This PFI: AIR Technology Translation project focuses on translating a robotic exoskeleton technology to deliver physical therapy to stroke subjects. Stroke is a leading cause of long-term disability in the US with nearly 80% of all stroke survivors experiencing some form of upper limb paralysis. Prior work by the PI has led to the development of a sophisticated exoskeleton for upper limb rehabilitation, called HARMONY. This PFI:AIR-TT award will support a novel controls framework for HARMONY that holds potential to improve the rehabilitation outcomes of not only stroke patients but also those with upper extremity neurological and musculoskeletal impairments. Currently there is only one robot commercially available for delivering physical therapy to the upper body. HARMONY offers improvements over this system through the following features: i) HARMONY can power entire shoulder movement; ii) HARMONY is bimanual, so it can simultaneously deliver therapy to both arms, which opens up possibilities for novel bimanual therapy; and iii) HARMONY allows for customization of the robot's force is at each joint which is critical for physical therapy. This project will develop a new controls framework that ensures patient involvement and provides the appropriate amount of assistance so that subjects can complete the desired task. To achieve this objective, the following two specific aims will be pursued: Aim 1) Develop and test novel controls framework for multi-DOF, bimanual human-exoskeleton interactions and Aim 2) Demonstrate the efficacy of the adaptive controllers through experiments with healthy subjects. The team, involving two participants with business and commercialization expertise, will advance understanding of the business aspects, including IP, regulatory issues and market need, and will generate a commercialization plan.With mentoring from personnel with business and commercialization experience and the focus on developing a commercialization plan, this project will create a unique opportunity for educating the academic participants in the process of translating basic research into deployed technology. Successful completion of this project will aid in the development of the next generation of innovators and business leaders.