Collaborative Research: A holistic human-in-the-loop framework for optimizing a personalized prosthetic arm
协作研究:用于优化个性化假肢的整体人机交互框架
基本信息
- 批准号:2221979
- 负责人:
- 金额:$ 24.99万
- 依托单位:
- 依托单位国家:美国
- 项目类别:Continuing 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
- 来源:
- 关键词:
项目摘要
A wide variety of prostheses are available to persons with upper-limb loss. These include devices that simply open and close the hand to those with multiple grip options and wrist movement. However, it is difficult to determine the optimal device for an individual because there is no objective standard. There are two main reasons for this shortcoming. First, there is currently no means to evaluate the effect of individual prosthetic features on user performance. For example, it is currently not possible to solely increase prosthetic wrist motion without changing the system weight and volume. Accordingly, if the patient rejects the prosthesis, it is unclear whether they are rejected due to difficulties in use or because of the weight. Second, it can be difficult to assess performance with upper limb prostheses as there is no single task that is representative of all upper limb activities of daily living. The goal of this proposal is to develop a new metric, called holistic indicator, which quantifies an individual’s performance and perception of a prosthesis. To make this possible, a cable-actuated prosthetic emulator is employed which can mimic different physical characteristics of the prosthesis and use machine learning to understand the relationship between design characteristics and user performance. The system developed in this proposal will enable the PI Team to find the optimal prosthesis for an individual by understanding their unique robot-human interaction. The research outcomes of this proposal will be disseminated through Wearable Robotics Camp for K-12 students and FEMMES (Females Excelling More in Math, Engineering, and Science) events for female high school students to encourage STEM education among the next generation. The learning experiences of graduate and undergraduate students working on this project will be a unique opportunity to acquire multidisciplinary skill sets, build professional networks through collaboration between faculty and students in robotics, data science, and biomechanics, and foster trans-disciplinary leaders of AI-based wearable robotics.The goal of this proposal is to design a human-in-the-loop (HITL) framework for prosthetic arm parameter optimization by determining a quantifiable holistic indicator using interpretable machine learning (ML) models. A holistic indicator is a metric for prosthesis optimization that incorporates both physical and cognitive quantitative responses. The innovation of a holistic framework is to reflect multiple critical factors during prosthesis use for optimizing a specific design parameter of interest of the upper limb prosthesis. The framework will be developed by collecting data from individuals with upper limb amputation using a cable-actuated prosthetic emulator arm, Intelligent COnvertible Prosthetic Emulator (ICOPE), developed in the PI’s laboratory. ICOPE features off-board electronics to easily change only specific design parameters through software while maintaining the rest of the design parameters. The data from ICOPE will be used to train interpretable ML models to determine the holistic indicator. The same data set will be collected from non-amputee participants as well, to identify the unique robot-human interaction of amputee participants for personalized prosthetic designs. This project will also include pilot studies utilizing the HITL framework with longer training periods and investigate user perception of the optimized design when the objective metrics will be shared with the user.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.
上肢丧失者可获得各种各样的假肢。这些设备包括简单地打开和关闭手的设备,以及具有多个抓握选项和手腕运动的设备。 然而,由于没有客观标准,很难确定个人的最佳设备。 造成这一缺陷的主要原因有两个。 首先,目前没有办法评估个体假体特征对用户性能的影响。例如,目前不可能在不改变系统重量和体积的情况下单独增加假体手腕运动。因此,如果患者拒绝接受假体,则不清楚是由于使用困难还是由于重量而被拒绝。第二,评估上肢假肢的性能可能很困难,因为没有一项任务可以代表日常生活中的所有上肢活动。该提案的目标是开发一种新的度量标准,称为整体指标,该指标量化了个人对假肢的表现和感知。为了实现这一点,采用了电缆驱动的假肢仿真器,它可以模拟假肢的不同物理特性,并使用机器学习来了解设计特性和用户性能之间的关系。该提案中开发的系统将使PI团队能够通过了解其独特的机器人-人交互来为个人找到最佳假体。该提案的研究成果将通过面向K-12学生的可穿戴机器人夏令营和面向女高中生的FEMMES(女性在数学、工程和科学方面更出色)活动进行传播,以鼓励下一代的STEM教育。从事该项目的研究生和本科生的学习经历将是一个独特的机会,可以获得多学科技能,通过教师和学生在机器人,数据科学和生物力学方面的合作建立专业网络,并培养基于人工智能的可穿戴机器人技术的跨学科领导者。该提案的目标是设计一个人在回路(HITL)通过使用可解释的机器学习(ML)模型确定可量化的整体指标,构建假肢参数优化框架。整体指标是假体优化的度量标准,它结合了身体和认知的定量反应。整体框架的创新在于反映假体使用过程中的多个关键因素,以优化上肢假体的特定设计参数。该框架将通过使用PI实验室开发的电缆驱动的假肢仿真器臂(智能可转换假肢仿真器(ICOPE))收集上肢截肢患者的数据来开发。ICOPE具有板外电子功能,可以通过软件轻松更改特定的设计参数,同时保持其余的设计参数。来自ICOPE的数据将用于训练可解释的ML模型,以确定整体指标。还将从非截肢者参与者中收集相同的数据集,以确定截肢者参与者独特的机器人-人交互,用于个性化假肢设计。该项目还将包括利用HITL框架进行的试点研究,培训时间较长,并在与用户共享客观指标时调查用户对优化设计的看法。该奖项反映了NSF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
期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
数据更新时间:{{ journalArticles.updateTime }}
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
数据更新时间:{{ journalArticles.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ monograph.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ sciAawards.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ conferencePapers.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ patent.updateTime }}
Eleonora Botta其他文献
Eleonora Botta的其他文献
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
{{ truncateString('Eleonora Botta', 18)}}的其他基金
Modeling, Design and Operation of Robotic Tether-Net Systems for Reliable Capture of Targets
用于可靠捕获目标的机器人系绳网系统的建模、设计和操作
- 批准号:
2128578 - 财政年份:2021
- 资助金额:
$ 24.99万 - 项目类别:
Standard Grant
CRII: RI: Robotic cable-based de-tumbling of demised spacecraft
CRII:RI:报废航天器基于电缆的机器人防翻滚
- 批准号:
2105011 - 财政年份:2021
- 资助金额:
$ 24.99万 - 项目类别:
Standard Grant
相似国自然基金
Research on Quantum Field Theory without a Lagrangian Description
- 批准号:24ZR1403900
- 批准年份:2024
- 资助金额:0.0 万元
- 项目类别:省市级项目
Cell Research
- 批准号:31224802
- 批准年份:2012
- 资助金额:24.0 万元
- 项目类别:专项基金项目
Cell Research
- 批准号:31024804
- 批准年份:2010
- 资助金额:24.0 万元
- 项目类别:专项基金项目
Cell Research (细胞研究)
- 批准号:30824808
- 批准年份:2008
- 资助金额:24.0 万元
- 项目类别:专项基金项目
Research on the Rapid Growth Mechanism of KDP Crystal
- 批准号:10774081
- 批准年份:2007
- 资助金额:45.0 万元
- 项目类别:面上项目
相似海外基金
Collaborative Research: IRES Track I: US-Costa Rica Collaboration to Quantify the Holistic Benefits of Resource Recovery in Small-Scale Communities
合作研究:IRES 第一轨:美国-哥斯达黎加合作量化小规模社区资源回收的整体效益
- 批准号:
2246349 - 财政年份:2023
- 资助金额:
$ 24.99万 - 项目类别:
Standard Grant
Collaborative Research: IRES Track I: US-Costa Rica Collaboration to Quantify the Holistic Benefits of Resource Recovery in Small-Scale Communities
合作研究:IRES 第一轨:美国-哥斯达黎加合作量化小规模社区资源回收的整体效益
- 批准号:
2246348 - 财政年份:2023
- 资助金额:
$ 24.99万 - 项目类别:
Standard Grant
D-ISN/Collaborative Research: Mitigating the Harm of Fentanyl through Holistic Demand/Supply Interventions and Equitable Resource Allocations
D-ISN/合作研究:通过整体需求/供应干预和公平资源分配减轻芬太尼的危害
- 批准号:
2240359 - 财政年份:2023
- 资助金额:
$ 24.99万 - 项目类别:
Standard Grant
D-ISN/Collaborative Research: Mitigating the Harm of Fentanyl through Holistic Demand/Supply Interventions and Equitable Resource Allocations
D-ISN/合作研究:通过整体需求/供应干预和公平资源分配减轻芬太尼的危害
- 批准号:
2240360 - 财政年份:2023
- 资助金额:
$ 24.99万 - 项目类别:
Standard Grant
Collaborative Research: IRES Track I: US-Costa Rica Collaboration to Quantify the Holistic Benefits of Resource Recovery in Small-Scale Communities
合作研究:IRES 第一轨:美国-哥斯达黎加合作量化小规模社区资源回收的整体效益
- 批准号:
2246350 - 财政年份:2023
- 资助金额:
$ 24.99万 - 项目类别:
Standard Grant
Collaborative Research: Enabling Intelligent Cameras in Internet-of-Things via a Holistic Platform, Algorithm, and Hardware Co-design
协作研究:通过整体平台、算法和硬件协同设计实现物联网中的智能相机
- 批准号:
2346091 - 财政年份:2023
- 资助金额:
$ 24.99万 - 项目类别:
Standard Grant
NNA Planning: Collaborative Research: A holistic approach to monitoring abrupt environmental shifts in the Kluane Lake region
NNA 规划:合作研究:监测克鲁恩湖地区环境突变的整体方法
- 批准号:
2127221 - 财政年份:2022
- 资助金额:
$ 24.99万 - 项目类别:
Standard Grant
Collaborative Research: SHIELD: Strategic Holistic Framework for Intrusion Prevention Using Multi-modal Data in Power Systems
合作研究:SHIELD:在电力系统中使用多模态数据进行入侵防御的战略整体框架
- 批准号:
2220346 - 财政年份:2022
- 资助金额:
$ 24.99万 - 项目类别:
Standard Grant
NNA Planning: Collaborative Research: A holistic approach to monitoring abrupt environmental shifts in the Kluane Lake region
NNA 规划:合作研究:监测克鲁恩湖地区环境突变的整体方法
- 批准号:
2127220 - 财政年份:2022
- 资助金额:
$ 24.99万 - 项目类别:
Standard Grant
Collaborative Research: A holistic human-in-the-loop framework for optimizing a personalized prosthetic arm
协作研究:用于优化个性化假肢的整体人机交互框架
- 批准号:
2221940 - 财政年份:2022
- 资助金额:
$ 24.99万 - 项目类别:
Continuing Grant