EAGER: Human Arm Impedance Modulation During Overground Physical Interactions

EAGER：地上物理交互期间的人体手臂阻抗调制

• 批准号: 1843892
• 负责人: Yun Song
• 金额: $ 29.99万
• 依托单位: Missouri University of Science and Technology
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-01-15 至 2021-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1843892&HistoricalAwards=false
• 关键词: EAGER; Human; Arm; Impedance; Modulation

A robot that physically interacts with humans in a human-like way may lead to impactful applications in healthcare and rehabilitation. However, little is known about how physical interactions can communicate goals and intent between partners. This EArly-concept Grant for Exploratory Research (EAGER) project supports development of a mobile interactive robot that will support fundamental research into how humans may modulate arm impedance to communicate intent during partnered ambulation. By studying how a person walks alongside the interactive robot while holding its "hand", this research will add to our understanding of how humans communicate and sense cues pertaining to movement direction and speed. The new knowledge will lead to the development of safe, effective and interactive robots that can be deployed wherever a guiding hand is needed, such as in hospitals, nursing homes, in sports training, or on factory lines. As such, the results of this research will benefit the US healthcare, economy, and society. The project will involve an educational component that provides engineering and research methods training to graduate and undergraduate students, as well as STEM outreach to high-school and middle-school students. Additional efforts will be made to attract and retain underrepresented individuals into careers in science and engineering.This research develops a novel robot intended to communicate intent with a human partner through physical forces. Methods include device development, development of robotic control algorithms, and the interrogation of object impedance of stationary and moving objects. The implemented system will be validated through human subjects experimentation involving human arm impedance estimation during over-ground human/robot partnered walking.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

以类似人类的方式与人类进行物理交互的机器人可能会在医疗保健和康复方面产生有影响力的应用。然而，很少有人知道身体互动如何在伴侣之间传达目标和意图。这个早期概念探索性研究（EAGER）项目资助了一个移动的交互式机器人的开发，该机器人将支持对人类如何调节手臂阻抗的基础研究，以在合作伙伴之间传达意图。通过研究一个人如何一边握着交互式机器人的“手”一边走，这项研究将增加我们对人类如何交流和感知与运动方向和速度有关的线索的理解。新知识将导致安全，有效和互动的机器人的发展，可以部署在任何需要指导手的地方，如医院，疗养院，体育训练或工厂生产线。因此，这项研究的结果将有利于美国的医疗保健，经济和社会。该项目将包括一个教育部分，为研究生和本科生提供工程和研究方法培训，并向高中和初中学生提供STEM推广。将做出额外的努力来吸引和留住代表性不足的个人进入科学和工程领域。这项研究开发了一种新颖的机器人，旨在通过物理力量与人类伴侣交流意图。方法包括设备开发，机器人控制算法的开发，以及静止和移动物体的物体阻抗的询问。实施的系统将通过人体实验进行验证，包括在地面人类/机器人合作行走过程中人体手臂阻抗估计。该奖项反映了NSF的法定使命，并被认为值得通过使用基金会的智力价值和更广泛的影响审查标准进行评估。

项目成果

Factors affecting the sensitivity to small interaction forces in humans

影响人类对小相互作用力敏感性的因素

• DOI: 10.1109/embc46164.2021.9629751
• 发表时间: 2021
• 期刊: 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC
• 作者: Rashid, Fazlur;Burns, Devin;Song, Yun Seong
• 通讯作者: Song, Yun Seong

Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks

• DOI: 10.1115/1.4045688
• 发表时间: 2020-08-01
• 期刊: JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
• 影响因子: 2.6
• 作者: Regmi, Sambad;Song, Yun Seong
• 通讯作者: Song, Yun Seong