Collaborative Research: NRI: Smart Skins for Robotic Prosthetic Hand

合作研究:NRI:机器人假手智能皮肤

基本信息

  • 批准号:
    2221190
  • 负责人:
  • 金额:
    $ 24.3万
  • 依托单位:
  • 依托单位国家:
    美国
  • 项目类别:
    Standard Grant
  • 财政年份:
    2022
  • 资助国家:
    美国
  • 起止时间:
    2022-09-01 至 2025-08-31
  • 项目状态:
    未结题

项目摘要

In the U.S., there are over 41,000 registered persons who had an amputation of hand or complete arm, and approximately 10,000 new amputation cases in the upper limb each year. Prosthetic hands that can significantly improve the quality of amputees’ life are highly desired to restore many activities of daily living, particularly in hand grasping and object manipulation. However, being able to use the hand accurately remains a grand and fundamental challenge in robotic prosthetic hands, especially in the desired trait of slip prevention for reliable and stable grasping in real life environments. The challenge resides in integrating fast sensing of slip detection and rapid movement in the small-area in the fingertips to prevent slippage through the use of sensors and controls of the prosthetic hands. This project proposes to meet this challenge by exploring a new concept of a skin that can change its shape for prosthetic hands in real-time. For this research project, the investigators will explore how to adjust the skin friction automatically. This project seeks to significantly advance the current state-of-the-art prosthetic hands to achieve the similar functionality of human hands, as well as enhance the ability of upper limb amputees for performing activities of daily living. Through both collaborative and individual efforts of the interdisciplinary team with distributed geographical location across the country (Raleigh, Philadelphia, and Rolla), this NSF project offers a unique opportunity to integrate insights from robotics, mechanics, design, advanced manufacturing to generate an intriguing and visually appealing broad participation plan. Through existing programs, such as senior design projects, Society of Women Engineering, honor program, and UNC Working on Women in Science, the investigators will encourage underrepresented groups of undergraduate students in research activities, including female and African American students. With the help of established similar summer programs and other educational programs in each institution, the investigators aim to improve the STEM education of K-12 students.The goal of this project is to fundamentally understand the adaptive tactile interactions between the smart shape-morphing robotic skins and grasped objects for autonomous slip prevention in robotic prosthetic hands. Three thrusts will be pursued ranging from fundamental understanding of contact behaviors in smart morphing skins-objects through design, fabrication, actuation, and modeling in Thrust 1, to integrate flexible tactile and spatial sensing on the smart skins in Thrust 2, and to interactive integrated human-robotic system for anti-slip evaluation in Thrust 3. This project will examine and demonstrate the integration of multi-scale manufacturing technologies to achieve complex functional systems at human-object interface, as well as the innovative reflex-like control of a robotic prosthesis hand. This project will generate new knowledge on the active role of actuated shape-morphing surface morphologies in tuning the friction. The translational research on upper limb amputees will provide new insight on human-prosthesis interactions and effectiveness of shared prosthesis control paradigm on amputees’ motor function and cognitive load. This project will also advance the knowledge in the multidisciplinary field of mechanics, sensing, manufacturing, robotic prosthesis controls, and human-robot interaction.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.
在美国,有超过41,000名登记在册的人截肢了手或整个手臂,每年大约有10,000例新的上肢截肢病例。假肢可以显著改善截肢者的生活质量,以恢复许多日常生活活动,特别是手部抓取和物体操作。然而,能够准确地使用手仍然是机器人假肢手的一个重大和基本的挑战,特别是在现实生活环境中可靠和稳定的抓握所需的防滑特性。挑战在于如何将滑动检测的快速传感和指尖小区域的快速运动结合起来,通过使用传感器和假肢手的控制来防止滑动。这个项目提出通过探索一种新的皮肤概念来应对这一挑战,这种皮肤可以实时改变假肢手的形状。在这个研究项目中,研究者将探索如何自动调节皮肤摩擦。该项目旨在极大地推动目前最先进的假肢手,以实现与人手相似的功能,并提高上肢截肢者进行日常生活活动的能力。通过跨学科团队的协作和个人努力,分布在全国各地(罗利,费城和罗拉),这个NSF项目提供了一个独特的机会,将机器人,机械,设计,先进制造的见解整合在一起,产生一个有趣的和视觉上吸引人的广泛参与计划。通过现有的项目,如高级设计项目、妇女工程协会、荣誉项目和北卡罗来纳大学妇女科学工作,调查人员将鼓励代表性不足的本科生群体参与研究活动,包括女性和非裔美国学生。在每个机构建立类似的暑期项目和其他教育项目的帮助下,调查人员的目标是提高K-12学生的STEM教育。本项目的目标是从根本上了解智能变形机器人皮肤与被抓物体之间的自适应触觉相互作用,以实现机器人假肢手的自主防滑。三个重点将被追求,从智能变形皮肤接触行为的基本理解,通过设计、制造、驱动和建模在推力1中,集成灵活的触觉和空间传感的智能皮肤在推力2,和交互式集成的人-机器人系统的抗滑评估在推力3。该项目将研究和展示多尺度制造技术的集成,以实现人机界面的复杂功能系统,以及机器人假手的创新反射控制。该项目将产生新的知识,驱动的形状变形表面形态在调整摩擦的积极作用。对上肢截肢者的转化研究将为研究人-假肢相互作用以及共享假肢控制范式对截肢者运动功能和认知负荷的影响提供新的视角。该项目还将推进力学、传感、制造、机器人假肢控制和人机交互等多学科领域的知识。该奖项反映了美国国家科学基金会的法定使命,并通过使用基金会的知识价值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

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Chenglin Wu其他文献

An Unexpected Partnership: MHC Class II Molecules as Ligands for NK Cells.
意想不到的合作:MHC II 类分子作为 NK 细胞的配体。
  • DOI:
  • 发表时间:
    2020
  • 期刊:
  • 影响因子:
    6.2
  • 作者:
    Chenglin Wu;X. Li
  • 通讯作者:
    X. Li
Steroid-resistant acute rejection after cadaveric liver transplantation: experience from one single center.
尸体肝移植后类固醇耐药性急性排斥反应:来自单一中心的经验。
Association between overt aggression and suicidal ideation in patients with major depressive disorder: the mediational role of cognitive symptoms
  • DOI:
    10.1007/s00406-025-01979-0
  • 发表时间:
    2025-03-04
  • 期刊:
  • 影响因子:
    3.700
  • 作者:
    Ningning Chen;Meiti Wang;Yiming Chen;Fan Wang;Qinte Huang;Dongbin Lyu;Chenglin Wu;Vivien Yang;Shuang He;Xirui Liu;Yixia Xie;Qinting Zhang;Wu Hong
  • 通讯作者:
    Wu Hong
h1 style=font-size:1.231em;font-family:arial, helvetica, clean, sans-serif;background-color:#FFFFFF; Simultaneous pancreas and kidney transplantation for liver transplant recipients with diabetes and uremia /h1 br /
糖尿病合并尿毒症肝移植受者同步胰肾移植
Mortality and Morbidity in Adults With Rheumatic Heart Disease.
成人风湿性心脏病的死亡率和发病率。
  • DOI:
  • 发表时间:
    2024
  • 期刊:
  • 影响因子:
    0
  • 作者:
    Ganesan Karthikeyan;M. Ntsekhe;S. Islam;S. Rangarajan;Á. Avezum;Alexander Benz;T. T. Cabral;Changsheng Ma;Philly Chillo;J. A. González;B. Gitura;Albertino Damasceno;A. Dans;K. Davletov;A. Elghamrawy;A. Elsayed;G. Fana;Lillian Gondwe;Abraham Haileamlak;A. Kayani;P. Lwabi;F. Maklady;O. J. Molefe;J. Musuku;O. Ogah;Maria Paniagua;Emmanuel Rusingiza;S. K. Sharma;L. Zuhlke;Stuart Connolly;Salim Yusuf;M. Goepamang;Julius Mwita;Auristela Ramos;Flávio Tarasoutchi;M. Paixão;Marcelo Kirschbaum;Mariana Pezzute Lopes;Walkiria Avila;Lilia Maia;Marcelo Nakazone;Osana Costa;Maria Lemos;Livia Oliveira;Jose Ferreira;J. F. Saraiva;Midia Costa;Marina Marengo;O. Dutra;Raphael Guimaraes;Humberto Vaz;Sergio Luiz Zimmerman;Weimar Souza;Weimar Queiroz;Adriana Souza;M. Vidotti;Jose Guilherme de Paula;G. Fazolli;Mauro Hernandes;José Luiz Simon Torati;Grazielly Pantano;Vanessa Pelarin;Flavia Arantes;Rodrigo Silva;Monique Cardoso;Gilmar Reis;César França;Tulio Quadros;F. Giorgeto;Resende Elmiro;Silva Aguinaldo;Cesar Minelli;Helen Mbuoh Anshoma;J. Ambassa;Liliane Mfevkev Kuate;Chris Nadege Nganou Gninotio;Ngo Youmba Ntep Gweth;Dzudie Anastase;Djomou Ngongang Florent Armel;Lionel Nana Keptukoua;Xin Du;Rong Hu;Jiahui Wu;Qiang Lv;Jing Cui;Yu Qing;Xudong Zhu;Wei Su;Xiaomei Wang;Chen Shiyi;Zhipeng Zhang;Qi Wang;Xin Zheng;Pengfei Liu;Cheng Rang;Sitao Xie;Chongwen Liu;Hailong Wang;Shudong Wang;Xuxia Zhang;Yinzhu Lian;Rui Wang;Mingfu Ma;Lan Dou Li;Yunlian Tan;Shouyan Zhang;Yunfei Gu;Jianfeng Chen;Wang Hao;Pengyu Wu;Luan Hong;Li Fu;Yongbin Xu;Jundan Xiao;Qingfu Li;Jinpo Sun;Cui Pei;Yanbo Niu;Yidi Wu;Honghua Yang;Xin Li;Chunyan Yang;Yanhui Shi;Chenglin Wu;Yandong Qu;Mingzhong Zhao;Yong Cheng;Yiqiang Yuan;Qiong Huang;Xiuzhen Kong;Zhizhong Zhao;Qixia Heng;Xinjing Shi;Jing Zhang;Liu Ying;Gao Xin;Zhaoping Yu;Xi Wu;Guo Hunayu;Xiaoying Wang;Wei Zhang;Chichang Li;Zhongtao Wang;Hao Ding;Min Huang;Jinguo Zhao;Mingshui Yu;Cuiling Cao;Xiaoli Zhu;Xiaoqin Shi;Khalid Eltamawy;Osama Arafa;Mahmoud Youssif;Aly Kassem;Omar Saleh;Mohamed Hussam Al Shair;Khaled Maghraby;Sameh Shaheen;Aly Ahmed Abouelhoda;Suliman Gharib;Ramadan Sadek;Yasser Abd El Hady;E. Asefa;E. K. Gudina;Ermias Habte Michael;Tadesse Dukessa Gemechu;Markos Duguma;Dejuma Yadeta;Berhanu N Alemu;Sintayehu Abebe;Tamrat Assefa;D. Mekonnen;Tigist Seleshi;Chala Fekadu;Abraha Hailu;Hagazi Tesfay;Berhane Yohannes Hailu;Hagos Kahsay;Kibreab Gidey;Teklay Gebrehawaria;Samuel Berhane;Teshome Abegaz Kamil;Tariku Egeno Shifa;Agete Tedewos Hirigo;Sisay Tesfaye Teshome;Seyife Kibru Yirdaw;Sandeep Singh;Nitish Naik;Deepti Siddharthan;Satyavir Yadav;Mohit Gupta;Girish Mp;Ajay Sharma;B. Pandit;Kumar Sudeep;Kapoor Aditya;A. Pradhan;R. Sethi;Gaurav Chaudhry;Yaday Virendra;Agarwal Smriti;Cholenahally Manjnath;Surya Prakash Narayanappa;Cholenahally Satvic;Lachikarthman Devegowda;C. Meena;Rajiv Bagarhatta;Shashi Mohan Sharma;S. Kunal;Nutan Kumar;A. Mereke;Elijah Ogola;Wilson Sugut;F. Barasa;Anthony Gikonyo;Stephen Omondi;Frank Sinyiza;John Chipolombwe;Tamara Phiri;Laura Leticia Rodriguez Chavez;Ernesto Gutierrez;Fransisco Mazon Flores;Edgar Rodriguez;Susano Lara Vaca;Juan Cabra;Sandra Saavedra;Manuel De los Rios;Gilmer Ruvalcaba;Esteban Lopez;Marco Alcocer;Ana Ramirez;Guillermo Llamas;Paola Hernandez;Angelica Delgado;Ana Muholove;Angela Mateus;A O Mocumbi;Jyoti Agarwal;Roshan Chhetri;Prashant Mani Tripathi;C. Adhikari;Urmila Shakya;D. Prajapati;R. Manandhar;Rajesh Nepal;S. Dhungana;R. Ghimire;S. Khanal;Samir Gautam;Mazhar Khan;B. Kc;S. Laudari;Madhu Gupta;S. Regmi;B. Dhital;Sudhir Regmi;K. Adhikari;Bhagawan Koirala;R. Gajurel;H. Shrestha;S. Thapa;A. Akintunde;T. Olunuga;Julius Adesina;Mahmoud Sani;F. Bode‐Thomas;Basil Okeahialam;C. Yilgwan;G. Amusa;O. Ige;Solomon Danbauchi;A. Adeoye;Ejiroghene Umuerri;A. Mbakwem;C. Amadi;Oyewole A Kushimo;Muhammad Isa;Muhammad Awwal Abdullahi;Nelson Oguanobi;Zohaib Ullah Zahid;Jabar Ali;M. Hafizullah;F. Memon;Shazia Kazi;A. Kayani;Adeel Rehman;Abdul Wajid Khan Faisal;Aftab Ahmad Tarique;Abdul Sattar;Nadeem Hayat Mallick;Syed Asif Ali;Veronica Mayans;Luciano Pereira;Jose Alderete;Javier Galeano;Alberto Moran Salinas;Rocío del Pilar Falcón;Gustavo Escalada;Luz Cabral;Liz Fatecha;Gladys Bogado de Atobe;Carlos Gutierrez;César Delmás;Claudine Coronel;Dahiana Ibarrola;Jose Donato Magno;Lauren Kay Evangelista;M. T. Abola;Leahdette Padua;Christie Mendoza;D. Sulit;Ma Jojo Mercado;Candy Angelica Sigua Cabaddu;Josefina Cruz;Jean Marie Vianney Ganza Gapira;Vincent Dusingizimana;B. Cupido;John Lawrenson;Kishendree Naicker;Jacqueline Rachelle Cirota;Sliwa Hahnle Karen;Mookenthottathil Thomas Baby;Kandathil M Thomas;Moeketsi Khulile;S. Alomatu;P. Mntla;Makgotsane Mphahlele;Andrew Ratsela;Pravin Manga;Doné Fourie;A. Hemus;E. M. Makotoko;A. K. M. N. Alam;R. Nethononda;Theema Nunkoo;Ruchika Meel;Elsadig Askar;A. Elfaki;Lana Mohamed;Mohammed ElSayed;Alia Hagahmed;Sumia Mohammed;Hiba Algaali;K. Eltalib;Tagwa S. I. Badawe;Inas Hassab Elrasoul Kbashi;H. Elhassan;M. Hamza;Molhim M.I. Ahmed;Rayan Elhussain;Rufaida Mutwali;Mohammad Qurashi Ahmed Medani;Nazar F.A. Mohamed;Hwida A.M. Elamin;Manal H.A. Elmadih;Maha Abdelgader;Magdi G. Yousif;Tagwa Elfatih;O. Elshazali;Elaf Esmaeel Esawi;Awad A.M.A. Mohammed;Omer I.A. Hassan;Khansa Mahgoub;Maarib Maki;Omaima A.M.Abozaid;Naiz Majani;Emmanuel Stephano Mtullo;Clement Kabakama;I. Mwakyula;J. Meda;E. Okello;P. Chansa;Ngosa Mumba;Fastone Goma;Caroline Musemwa;Rudo Gwini
  • 通讯作者:
    Rudo Gwini

Chenglin Wu的其他文献

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{{ truncateString('Chenglin Wu', 18)}}的其他基金

Collaborative Research: Chemo-Physics and Molecular Design of In-situ Hydrogel-MXene Biosensors
合作研究:原位水凝胶-MXene生物传感器的化学物理和分子设计
  • 批准号:
    2320717
  • 财政年份:
    2023
  • 资助金额:
    $ 24.3万
  • 项目类别:
    Standard Grant
Atomic-Layer Dependent Adhesion of Two-Dimensional Transitional Metal Carbides (MXenes)
二维过渡金属碳化物 (MXenes) 的原子层依赖性粘附
  • 批准号:
    2414708
  • 财政年份:
    2023
  • 资助金额:
    $ 24.3万
  • 项目类别:
    Standard Grant
Collaborative Research: Chemo-Physics and Molecular Design of In-situ Hydrogel-MXene Biosensors
合作研究:原位水凝胶-MXene生物传感器的化学物理和分子设计
  • 批准号:
    2414719
  • 财政年份:
    2023
  • 资助金额:
    $ 24.3万
  • 项目类别:
    Standard Grant
CAREER: Chemomechanics of 2D Transition Metal Materials
职业:二维过渡金属材料的化学力学
  • 批准号:
    2414716
  • 财政年份:
    2023
  • 资助金额:
    $ 24.3万
  • 项目类别:
    Standard Grant
CAREER: Chemomechanics of 2D Transition Metal Materials
职业:二维过渡金属材料的化学力学
  • 批准号:
    2045070
  • 财政年份:
    2021
  • 资助金额:
    $ 24.3万
  • 项目类别:
    Standard Grant
Atomic-Layer Dependent Adhesion of Two-Dimensional Transitional Metal Carbides (MXenes)
二维过渡金属碳化物 (MXenes) 的原子层依赖性粘附
  • 批准号:
    1930881
  • 财政年份:
    2019
  • 资助金额:
    $ 24.3万
  • 项目类别:
    Standard Grant

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NRI/Collaborative Research: Robotic Disassembly of High-Precision Electronic Devices
NRI/合作研究:高精度电子设备的机器人拆卸
  • 批准号:
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Collaborative Research: NRI: Understanding Underlying Risks and Sociotechnical Challenges of Powered Wearable Exoskeleton to Construction Workers
合作研究:NRI:了解建筑工人动力可穿戴外骨骼的潜在风险和社会技术挑战
  • 批准号:
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  • 批准号:
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    $ 24.3万
  • 项目类别:
    Standard Grant
Collaborative Research: NRI: Reducing Falling Risk in Robot-Assisted Retail Environments
合作研究:NRI:降低机器人辅助零售环境中的跌倒风险
  • 批准号:
    2132937
  • 财政年份:
    2022
  • 资助金额:
    $ 24.3万
  • 项目类别:
    Standard Grant
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