PFI: AIR-TT: Preflex versus Reflex Control of a Multijoint Robotic Exoskeleton

该PFI：AIR技术翻译项目的重点是基于肌肉收缩的变革性新理论，翻译一种生物启发算法，以开发更安全，更快速，更可扩展的机器人外骨骼。 生物启发控制算法旨在解决尽管最近技术进步，但机器人辅助设备的控制和开发仍然存在的重大挑战。 该项目将导致一个强大的控制算法，主动踝关节驱动使用下肢外骨骼作为平台。这种控制算法已被证明具有很高的潜力，提供强大的控制踝关节的扭矩和功率，而步行在不同的地形。与该市场空间中领先的竞争下肢外骨骼相比，具有踝部致动的稳健外骨骼的益处包括改善站立姿势平衡、提高行走速度以及改善在各种地形上的机动性，以用于患有脊髓损伤的人的家庭步态康复。 由于它将研究发现转化为商业应用，该项目解决了对具有主动踝关节驱动的下肢外骨骼的需求。踝关节在行走过程中的全身稳定性和向前推进中起着关键作用，但目前市场上没有外骨骼具有踝致动或在家中和社区中独立有效功能所需的稳定性和鲁棒性。这些限制通过阻碍参与日常活动和保持身体健康来影响依赖移动辅助的个人的生活质量。在这个项目中，除了膝关节和髋关节的驱动外，生物启发算法将用于控制踝关节的主动驱动，以探索腿部在复杂地形上站立平衡，步行速度和步态的协调。该项目将测试该算法是否足以控制协调的多关节运动，或者是否还需要反射反馈控制。参与该项目的人员，包括本科生和研究生，将通过北方亚利桑那大学的专业研究和课程，以及Ekso Bionics，Inc.的商业和工程实习，参与创新，创业和技术翻译体验。将提供下肢外骨骼和测试环境，用于在从研究发现到商业现实的技术转化努力中实现生物启发控制算法。

This PFI: AIR Technology Translation project focuses on translating a bio-inspired algorithm, based on a transformative new theory of muscle contraction, to develop safer, faster, and more maneuverable robotic exoskeletons. The bio-inspired control algorithm seeks to address significant challenges that remain in the control and development of robotic assistive devices despite recent technological advances.  The project will result in a robust control algorithm for active ankle actuation using a lower limb exoskeleton as a platform. This control algorithm has demonstrated high potential to provide robust control of ankle torque and power while walking on varied terrain. The benefits of a robust exoskeleton with ankle actuation include improved standing postural balance, increased walking speed, and improved maneuvering over varied terrain for in-home gait rehabilitation in persons with spinal cord injury when compared to the leading competing lower extremity exoskeletons in this market space.  As it translates research discovery to commercial application, this project addresses the need for lower extremity exoskeletons with active ankle actuation. The ankle joint plays a critical role in whole-body stability and forward propulsion during walking, yet no exoskeletons currently available on the market have ankle actuation or the stability and robustness required for independent and effective function at home and in the community. These limitations affect quality of life for individuals that rely on mobility assistance by hindering participation in daily activities and maintenance of physical fitness. In this project, a bio-inspired algorithm will be used to control active actuation at the ankle joints, in addition to actuation at the knee and hip joints, to explore leg coordination in standing balance, walking speed, and ambulation over complex terrain. The project will test whether the algorithm is sufficient for control of coordinated multi-joint movement, or alternatively whether reflex feedback control is also required. Personnel involved in this project, including undergraduate and graduate students, will participate in innovation, entrepreneurship, and technology translation experiences through specialized research and coursework at Northern Arizona University, as well as business and engineering internships at Ekso Bionics, Inc.In this project, Ekso Bionics, Inc. will provide a lower extremity exoskeleton and test environment for implementation of the bio-inspired control algorithm in this technology translation effort from research discovery toward commercial reality.