SBIR Phase I: A High-Force-Fidelity and Compact Actuator for an Upper-Body Exoskeletal Rehabilitation Robot

SBIR 第一阶段：用于上身外骨骼康复机器人的高力保真度紧凑型执行器

• 批准号: 1721941
• 负责人: Bongsu Kim
• 金额: $ 22.5万
• 依托单位: LinkDyn Robotics Inc.
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-07-01 至 2018-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1721941&HistoricalAwards=false
• 关键词: SBIR; Phase; Force; Fidelity; Compact

The broader impact/commercial potential of this project is significant. The compact and torque-controllable proposed actuator will prompt the development of a highly-potential upper-body exoskeletal rehabilitation robot that support a wide range of motion with an anatomical mobility and impedance-based dynamic behaviors. The high-performed exoskeleton will allow to implement contemporary therapeutic trainings based on neurological motor learning principles. This would enhance the efficacy of robotic rehabilitation leading to better recovery after neuromuscular injuries. Therefore, rehabilitation robots powered by the proposed actuator will be better accepted to physical rehabilitation market and bring a significant commercial impact. Ultimately, this project will contribute to reduction of socio-economic costs caused by neuromuscular impairments. Also, exoskeletons powered by the proposed actuator would contribute to better understanding of neurobehavioral principle of human body by serving as an experimental tool that creates force-based human-robot interactions with anatomical movements.This Small Business Innovation Research (SBIR) Phase I project will focus on developing a compact rotary-type series elastic actuators (SEAs) for upper-body exoskeleton application. A substantial portion of the US population suffers from neuromuscular impairments, requiring intensive rehabilitation services. Robotic rehabilitation has been attracting attention from many sectors because of the potential for better rehabilitation outcome. However, the lack of anatomical shoulder mobility and compliant dynamic control in existing upper-body exoskeletons limits the capability to produce neurologically-based therapeutic behaviors. The proposed SEAs will help to overcome the limitation by enabling exoskeletons to have force and impedance-based behaviors for advanced rehabilitation protocols. Its compact form factor will benefit the linkage design of exoskeletons for a wide range of motion and anatomical mobility. Also, the SEAs with the tight configuration and high torque/power capacity will provide a high flexibility in a variety of robot designs contributing to advances of general robotic technology.

该项目的更广泛影响/商业潜力是显著的。紧凑和扭矩可控的驱动器将促进开发一个高潜力的上身外骨骼康复机器人，支持广泛的运动与解剖的流动性和阻抗为基础的动态行为。高性能外骨骼将允许实施基于神经运动学习原理的现代治疗训练。这将提高机器人康复的功效，从而在神经肌肉损伤后更好地恢复。因此，由该驱动器驱动的康复机器人将更好地被物理康复市场所接受，并带来重大的商业影响。最终，该项目将有助于减少神经肌肉损伤造成的社会经济成本。此外，由该驱动器驱动的外骨骼将有助于更好地理解人体的神经行为原理，作为一种实验工具，创建基于力的人机交互与解剖运动。这个小型企业创新研究（SBIR）第一阶段项目将专注于开发一种紧凑的旋转型系列弹性驱动器（SEA），用于上身外骨骼应用。相当一部分美国人患有神经肌肉损伤，需要密集的康复服务。机器人康复已经吸引了许多部门的关注，因为它具有更好的康复效果。然而，现有上身外骨骼中缺乏解剖学肩部移动性和顺应性动态控制限制了产生基于神经学的治疗行为的能力。拟议的SEA将有助于克服限制，使外骨骼具有基于力和阻抗的行为，以实现高级康复协议。其紧凑的外形将有利于外骨骼的连杆设计，以实现广泛的运动和解剖移动性。此外，具有紧密配置和高扭矩/功率容量的SEA将在各种机器人设计中提供高灵活性，从而促进一般机器人技术的进步。