CAREER: Robotic Augmentation of Human Reflexes and Reach through Collaborative Grasping

职业：通过协作抓取机器人增强人类反应和触及范围

• 批准号: 2237843
• 负责人: Hannah Stuart
• 金额: $ 60万
• 依托单位: University of California-Berkeley
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2023
• 资助国家: 美国
• 起止时间: 2023-06-01 至 2028-05-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2237843&HistoricalAwards=false
• 关键词: CAREER; Robotic; Augmentation; Human; Reflexes

This Faculty Early Career Development Program (CAREER) project will create a new generation of effective and affordable wearable robotic assistance for people with severe weakness or partial paralysis of the hands and arms, such as might arise from cervical spinal cord injury. The objective is to help the user with grasping and holding actions, and enable performance of tasks of daily living. The project focuses on three assistance methods. The first is to use the high reaction speed of the robot to anticipate and augment the user's own grasp reflexes. The second is to provide natural and comfortable collaborative grasping and holding, by having the robot adapt its response to user preference. The third combines both anticipatory reflex augmentation and adaptive collaborative grasping to bestow maximal benefits under conditions of realistic variability and uncertainty. This work addresses fundamental issues of shared human-robot collaboration and the design of assistive mechanisms. It advances the health and welfare of people with disabilities, and increases their ability to function independently. Other benefits to society are the development of new educational techniques to broaden participation of people with disabilities in engineering and science, both in the classroom and in the local community.For people with disabilities capable of partial body-power, miscoordination with a robotic exoskeleton can lead to inefficiency, slowness, and frustration. This project introduces an unexplored modality for assistive grasping devices called collaborative grasping, or co-grasping, which is suitable to augment people with partial body power. This approach fundamentally alters the role of robotic elements with the goal of improving shared task performance and device embodiment. The project pursues two primary functional outcomes: (R1) reducing the rate of accidental object drops using tactile sensors and robot-led reflexes and (R2) easing body movements with robotic support to improve comfort and skill during reach-and-grasp. The methods used include the modification of a novel co-grasping testbed to also enable human-only and robot-only control cases, to probe interwoven questions of intelligence and embodiment through human subjects experiments. Specific experiments investigate the role of inherent haptic feedback on physical human robot interaction and user perception during challenging grasping tasks. The capstone of this project (R1+R2) is a collaborative arbitration prototype to accomplish (R1) and (R2) concurrently, including during realistic tasks of daily living. Overall, this work generates new tools and knowledge to improve and personalize the integration of robotic systems with the hands to enhance human independence and wellbeing.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.

这个教师早期职业发展计划（职业）项目将为重度弱或部分麻痹的人提供新一代有效且负担得起的可穿戴机器人援助，例如颈脊髓损伤可能引起的。目的是帮助用户掌握和持有动作，并实现日常生活任务的执行。该项目着重于三种援助方法。首先是使用机器人的高反应速度来预测和增强用户自己的掌握反射。第二个是通过使机器人适应用户偏好的响应来提供自然而舒适的协作抓握和持有。第三个结合了预期的反射增强和适应性的协作抓地力，以在现实的可变性和不确定性条件下给予最大收益。这项工作解决了共享人类机器人协作和辅助机制设计的基本问题。它可以提高残疾人的健康和福利，并提高其独立运作的能力。对社会的其他好处是开发新的教育技术，以扩大残疾人在课堂和当地社区中的参与。该项目介绍了一种未开发的方式，用于辅助抓握设备，称为协作握把或共抓地，该设备适合增强具有部分身体力量的人。这种方法从根本上改变了机器人元素的作用，以改善共同的任务性能和设备实施例。该项目追求两个主要的功能结果：（R1）使用触觉传感器和机器人主导的反射降低意外物体降低的速率，以及（R2）通过机器人支持缓解身体运动，以提高触手可及的舒适性和技巧。所使用的方法包括修改一种新型的共磨垫测试床，以使其仅由人类和仅机器人控制案例，以通过人类受试者实验探测智能和实施方案的问题。具体的实验研究了固有的触觉反馈对挑战性掌握任务期间物理人体机器人相互作用和用户感知的作用。该项目的顶峰（R1+R2）是同时完成（R1）和（R2）的协作仲裁原型，包括在现实的日常生活任务中。总体而言，这项工作生成了新的工具和知识，以改善和个性化机器人系统与双手的整合，以增强人类的独立性和福祉。该奖项反映了NSF的法定任务，并被认为是值得通过基金会的知识分子优点和更广泛的影响来通过评估来支持的。