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

这个PFI: AIR技术翻译项目的重点是翻译一种基于变革性肌肉收缩新理论的仿生算法，以开发更安全、更快、更可操作的机器人外骨骼。尽管最近的技术进步，仿生控制算法寻求解决机器人辅助设备控制和开发中仍然存在的重大挑战。该项目将产生一种鲁棒控制算法，用于使用下肢外骨骼作为平台的主动踝关节驱动。该控制算法已被证明具有很高的潜力，可以提供在不同地形上行走时踝关节扭矩和功率的鲁棒控制。与市场上领先的下肢外骨骼相比，踝关节驱动的坚固外骨骼的好处包括改善站立姿势平衡，提高行走速度，改善脊髓损伤患者在不同地形上的家庭步态康复的机动能力。在将研究发现转化为商业应用的过程中，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。在行走过程中，踝关节在全身稳定和向前推进中起着至关重要的作用，但目前市场上没有外骨骼具有踝关节驱动或在家庭和社区中独立有效功能所需的稳定性和稳健性。这些限制通过妨碍参与日常活动和保持身体健康来影响依赖行动辅助的个人的生活质量。在这个项目中，一种仿生算法将被用于控制踝关节的主动驱动，以及膝盖和髋关节的驱动，以探索在复杂地形上站立平衡、行走速度和行走时的腿部协调。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。公司将提供下肢外骨骼和测试环境，以实现生物启发控制算法，将这项技术从研究发现转化为商业现实。

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.