NRI: Small: Rapid exploration of robotic ankle exoskeleton control strategies

该项目比较了使用机器人脚踝矫形器帮助中风相关活动障碍患者的不同技术。机器人假肢和康复平台已经开发了几种很有前途的辅助技术，这些技术已经扩展到外骨骼--戴在脚踝关节上，并适用于中风患者。脚踝外骨骼试验台用于模拟每种辅助技术，允许在同一平台内比较效率和效果。每种技术都首先用这种模拟器在试点测试中进行编程和验证，然后进行多维参数研究，首先对没有神经损伤的受试者进行研究，然后对中风后偏瘫的受试者进行研究。每种技术的结果被用来识别理想的参数及其设置，这有助于跨技术的比较和开发一套标准化的量化性能指标，包括工作量、首选速度和稳定性的衡量标准。这些研究将为机器人踝足矫形器的设计和处方提供科学基础，使数百万受损个人受益。

This project compares different techniques for assisting individuals with stroke-related mobility impairments using a robotic ankle orthosis. Several promising assistance techniques have been developed for robotic prostheses and rehabilitation platforms, which have been extended to exoskeletons - worn at the ankle joint, and adapted for individuals with stroke. An ankle exoskeleton test bed is used to emulate each assistance technique, allowing comparisons of efficiency and effectiveness within the same platform. Each technique is first programmed and verified in pilot tests with this emulator, followed by multi-dimensional parameter studies, conducted first on subjects without neurological impairment and then on subjects with hemiparesis following stroke. The results for each technique are used to identify ideal parameters and their settings, which facilitates across-technique comparisons and development of a standardized set of quantitative performance metrics, including measures of effort, preferred speed, and stability. These studies will contribute to a scientific foundation for the design and prescription of robotic ankle-foot orthoses that will benefit the millions of impaired individuals.