Collaborative Research: Assistive Robotics and Functional Electrical Stimulation - A Synergistic Combination to Reanimate Paralyzed Arms
合作研究:辅助机器人和功能性电刺激——使瘫痪手臂复活的协同组合
基本信息
- 批准号:2025142
- 负责人:
- 金额:$ 30.6万
- 依托单位:
- 依托单位国家:美国
- 项目类别:Standard Grant
- 财政年份:2021
- 资助国家:美国
- 起止时间:2021-04-15 至 2025-03-31
- 项目状态:未结题
- 来源:
- 关键词:
项目摘要
People who are paralyzed from the shoulders down rely on 24-hour care to complete basic daily activities. Restoring arm and hand function would greatly increase their independence. Assistive robotics and functional electrical stimulation can potentially restore arm and hand function, but each has significant drawbacks. The objective of this project is to develop a cooperative control strategy for functional elbow and wrist movements in people with high cervical spinal cord injuries using functional electrical stimulation and a robotic exoskeleton. The results of the project will help move functional electrical stimulation and upper limb robotics from laboratory assistive technologies to wearable devices used for everyday tasks by people with full-arm paralysis. The complementary strengths of functional electrical stimulation (FES) and assistive robotics can potentially enable people with high tetraplegia to independently feed and groom themselves. FES provides free power using a person’s own muscles but cannot sufficiently control all joints simultaneously due to permanent denervation of some muscles. Assistive robots can provide additional power and control, but can be rigid, bulky, and heavy. This project's objective is to develop a cooperative control strategy that demonstrates functional elbow and wrist movements in people with high tetraplegia using a hybrid FES+rigid support robot. By maximizing the utility of muscles activated by FES, the proposed hybrid strategy will reduce the need for robot power and size, paving the way for using FES with soft wearable robotics. This project will use a rigid robot as the testbed for developing cooperative control strategies, allowing for exploration of the entire design space for future development of soft wearable exosuits coupled with FES. FES+robot assisted muscle-induced torques will be measured in real time during elbow and wrist movements. This information will feed into a coordinated FES+robot control scheme that aims to decrease robot work while maintaining tracking accuracy. Performance and robustness of the control scheme will be benchmarked for varying robot capabilities during a self-feeding task. The outcome will be a model, mapping robot capabilities to task completion success, to be used to design future wearable hybrid FES-robotic systems for upper limb movement restoration. These advances will open up new research horizons in commanding and controlling hybrid neuroprostheses that could not otherwise be achieved.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.
肩部以下瘫痪的人依靠24小时护理来完成基本的日常活动。恢复手臂和手的功能将大大增加他们的独立性。辅助机器人和功能性电刺激可以潜在地恢复手臂和手的功能,但每一种都有明显的缺陷。本项目的目标是开发一种协作控制策略,利用功能性电刺激和机器人外骨骼来控制高位颈髓损伤患者的肘关节和手腕功能运动。该项目的成果将有助于将功能性电刺激和上肢机器人从实验室的辅助技术转移到全臂瘫痪患者用于日常任务的可穿戴设备上。功能性电刺激(FES)和辅助机器人技术的优势互补,可能使高位四肢瘫痪患者能够独立喂养和梳理自己。FES使用人自己的肌肉提供免费能量,但由于某些肌肉永久失去神经,无法同时充分控制所有关节。辅助机器人可以提供额外的动力和控制,但可能会僵硬、笨重和笨重。该项目的目标是开发一种协作控制策略,使用混合FES+刚性支撑机器人来演示高位四肢瘫痪患者的肘关节和手腕功能运动。通过最大限度地利用FES激活的肌肉,拟议的混合策略将减少对机器人功率和尺寸的需求,为将FES与软可穿戴机器人一起使用铺平道路。该项目将使用刚性机器人作为开发协作控制策略的试验台,允许探索未来与FES相结合的软可穿戴外衣的整个设计空间。FES+机器人辅助的肌肉诱导扭矩将在肘部和手腕运动过程中进行实时测量。这些信息将被提供给一个协调的FES+机器人控制方案,该方案旨在减少机器人的工作量,同时保持跟踪精度。控制方案的性能和稳健性将根据机器人在自动进食任务期间的不同能力进行基准测试。其成果将是一个模型,将机器人的能力与任务完成成功相对应,用于设计未来可穿戴的混合FES-机器人系统,用于上肢运动恢复。这些进展将在指挥和控制混合型神经假体方面开辟新的研究视野,否则无法实现。该奖项反映了NSF的法定使命,并通过使用基金会的智力优势和更广泛的影响审查标准进行评估,被认为值得支持。
项目成果
期刊论文数量(1)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Shared Control of Elbow Movements with Functional Electrical Stimulation and Exoskeleton Assistance
通过功能性电刺激和外骨骼辅助共享肘部运动控制
- DOI:10.1109/icorr55369.2022.9896570
- 发表时间:2022
- 期刊:
- 影响因子:0
- 作者:Dunkelberger, Nathan;Carlson, Skye A.;Berning, Jeffrey;Stovicek, Kyra C.;Schearer, Eric M.;O'Malley, Marcia K.
- 通讯作者:O'Malley, Marcia K.
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Eric Schearer其他文献
Eric Schearer的其他文献
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{{ truncateString('Eric Schearer', 18)}}的其他基金
Human-Machine Systems for Physical Rehabilitation
物理康复人机系统
- 批准号:
2152135 - 财政年份:2022
- 资助金额:
$ 30.6万 - 项目类别:
Standard Grant
REU Site: RE@CSU -- Rehabilitation Engineering at Cleveland State University
REU 站点:RE@CSU——克利夫兰州立大学康复工程
- 批准号:
1950558 - 财政年份:2021
- 资助金额:
$ 30.6万 - 项目类别:
Standard Grant
CAREER: Neuroprostheses for Functional Reaching by Users with High Tetraplegia
职业:神经假体帮助高位四肢瘫痪用户实现功能性活动
- 批准号:
1751821 - 财政年份:2018
- 资助金额:
$ 30.6万 - 项目类别:
Continuing Grant
REU Site: Engineering and Computing in Rehabilitation and Assisitve Technologies
REU 网站:康复和辅助技术中的工程和计算
- 批准号:
1659559 - 财政年份:2017
- 资助金额:
$ 30.6万 - 项目类别:
Standard Grant
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