CPS: Medium: Integrated control of biological and mechanical power for standing balance and gait stability after paralysis

CPS：中：生物和机械动力的综合控制，用于瘫痪后的站立平衡和步态稳定性

• 批准号: 1739800
• 负责人: Roger Quinn
• 金额: $ 99.94万
• 依托单位: Case Western Reserve University
• 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: 2017-09-15 至 2022-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1739800&HistoricalAwards=false
• 关键词: CPS; Medium; Integrated; control; biological

Wearable exoskeletons are one of the primary advancements that help to alleviate the effects of spinal cord injury (SCI) including degenerative changes in organs of the body. Artificially stimulating the wearer's muscles to move his or her limbs has the additional benefit of maintaining musculature and improving circulation. The exoskeleton system developed in this project will use this "muscles first" approach with additional assistive power from electric motors on an as-needed basis. The major contribution of the project is that it will ensure stability of the person during standing and at normal walking speeds. The result will be that persons with SCI will be more comfortable standing and walking more erect and, therefore, be more socially engaged. The societal impact of this will be that persons with SCI will be better able to work and participate in social and leisure activities and in other behaviors associated with independent and productive lifestyles. In addition, Cleveland area high school students will be involved in the project and learn about human biomechanics and engineering methods.This project addresses how cyber physical walking systems (CPWS) can be designed to be safe, secure, and resilient despite a variety of unanticipated disturbances and how real-time dynamic control and behavior adaptation can be achieved in a diversity of environments. Specifically, a CPWS will be developed that seamlessly integrates: (1) a person who has a spinal cord injury (SCI) with intact and excitable lower motor nerves; (2) an exoskeleton with controllably locked/unlocked and/or passively damped joints; (3) DC motors for need-dependent joint power assistance; and (4) computational algorithms that continuously and automatically learn to improve standing and walking stability. In this "muscles first" approach, functional neural stimulation (FNS) provides most of the joint torques for walking and for maximum health benefits and, thus, as-needed assistive joint motors may be small and lightweight. The specific aims are 1) Assist the user's muscles on an as-needed basis and for high-bandwidth stability control by adding small, low passive-resistance motor/transmission pairs to our CPWS; 2) Develop computational algorithms for system estimation, machine learning and stability control for SCI users standing and walking with a CPWS while minimizing upper extremity effort; 3) Verify system performance with able-bodied individuals and assess upper extremity reduction and balance control in individuals with SCI using the CPWS for standing and ambulation.

可穿戴外骨骼是有助于减轻脊髓损伤（SCI）影响的主要进步之一，包括身体器官的退行性变化。通过刺激穿戴者的肌肉来移动他或她的四肢，具有保持肌肉组织和改善血液循环的额外好处。在这个项目中开发的外骨骼系统将使用这种“肌肉优先”的方法，并根据需要从电动机获得额外的辅助动力。该项目的主要贡献是，它将确保人在站立和正常步行速度时的稳定性。其结果是，SCI患者将更舒适地站立和行走，因此，更多地参与社会活动。其社会影响将是SCI患者将能够更好地工作和参与社交和休闲活动以及与独立和富有成效的生活方式相关的其他行为。此外，克利夫兰地区的高中生也将参与该项目，学习人体生物力学和工程方法。该项目将讨论如何设计网络物理步行系统（CPWS），使其在各种意外干扰下保持安全、可靠和弹性，以及如何在各种环境中实现实时动态控制和行为适应。具体而言，将开发一种CPWS，其无缝集成：（1）具有完整和可兴奋的下运动神经的脊髓损伤（SCI）的人;（2）具有可控锁定/解锁和/或被动阻尼关节的外骨骼;（3）用于依赖于需求的关节动力辅助的DC电机;以及（4）连续和自动学习以提高站立和行走稳定性的计算算法。在这种“肌肉优先”的方法中，功能性神经刺激（FNS）提供了用于行走和最大健康益处的大部分关节扭矩，因此，按需辅助关节电机可以是小的和重量轻的。具体目标是：1）通过向我们的CPWS添加小型、低被动电阻电机/传动对，根据需要帮助用户的肌肉，并进行高带宽稳定性控制; 2）为SCI用户使用CPWS站立和行走，同时最大限度地减少上肢力量，开发用于系统估计、机器学习和稳定性控制的计算算法; 3）使用身体健全的个体验证系统性能，并使用CPWS评估SCI个体的上肢复位和平衡控制。

项目成果

Estimating Center of Mass Kinematics During Perturbed Human Standing Using Accelerometers

使用加速度计估计人体站立扰动期间的质量运动中心

• DOI: 10.1123/jab.2020-0222
• 发表时间: 2021
• 期刊: Journal of Applied Biomechanics
• 影响因子: 1.4
• 作者: Hnat, Sandra K.;Audu, Musa L.;Triolo, Ronald J.;Quinn, Roger D.
• 通讯作者: Quinn, Roger D.

Embedded control system for stimulation-driven exoskeleton

刺激驱动外骨骼嵌入式控制系统

• DOI: 10.1109/ismr.2018.8333294
• 发表时间: 2018
• 期刊: International Symposium on Medical Robotics
• 作者: Li, Lu;Schnellenberger, John R.;Nandor, Mark J.;Chang, Sarah R.;Foglyano, Kevin M.;Reyes, Ryan-David;Kobetic, Rudi;Audu, Musa;Triolo, Ronald J.;Quinn, Roger D.
• 通讯作者: Quinn, Roger D.

Robotics Application of a Method for Analytically Computing Infinitesimal Phase Response Curves

无穷小相位响应曲线分析计算方法的机器人应用

• 发表时间: 2020
• 期刊: Living Machines: Conference on Biomimetic and Biohybrid Systems
• 作者: Fitzpatrick, Marshuan;Wang, Yangyang;Thomas, Peter;Quinn, Roger;Szczecinski, Nicholas
• 通讯作者: Szczecinski, Nicholas

Implementation of Deep Deterministic Policy Gradients for Controlling Dynamic Bipedal Walking

• DOI: 10.3390/biomimetics4010028
• 发表时间: 2019-03-22
• 期刊: BIOMIMETICS
• 影响因子: 4.5
• 作者: Liu, Chujun;Lonsberry, Andrew G.;Quinn, Roger D.
• 通讯作者: Quinn, Roger D.

Transmission Comparison for Cooperative Robotic Applications

• DOI: 10.3390/act10090203
• 发表时间: 2021-09-01
• 期刊: ACTUATORS
• 影响因子: 2.6
• 作者: Nandor, Mark J.;Heebner, Maryellen;Makowski, Nathaniel S.
• 通讯作者: Makowski, Nathaniel S.