CAREER: Personalized, wearable robot mobility assistance considering human-robot co-adaptation that incorporates biofeedback, user coaching, and real-time optimization

尽管个性化辅助设备取得了长足的进步，但要实现膝下截肢（BKA）假肢设备的定制性能仍然具有挑战性。可穿戴设备通常提供不适应用户需求的固定水平的辅助。这个职业项目旨在通过承认BKA患者独特的运动模式和感官需求来创新。该项目的目标是开发一种新形式的个性化机器人假肢，能够适应BKA用户的个人运动模式，以提高他们的流动性和整体生活质量。该项目的成功完成将加深我们对人机交互的理解，并促进更具包容性的技术设计。此外，该项目还整合了旨在提高不同学生群体对先进技术的认识的教育活动，包括那些行动不便的学生和那些在STEM领域服务不足的学生。该项目的研究目标是通过关注适应人类变化的个性化辅助，改变可穿戴机器人在膝下截肢（BKA）患者中的设计和应用。推动这项研究的动机是，可穿戴机器人不断个性化并适应用户的变化，将大大改善BKA用户的结果。该项目包括三项主要研究。第一项研究将开发和测试个性化的机器人假肢，使用先进的自适应优化和生物反馈方法，根据每个用户的具体需求调整设备。这种个性化的方法将允许假体实时适应用户的运动。第二项研究将开发一种使用口头指令和实时视觉反馈的教练策略，帮助用户学习和保持有益的运动模式。这将鼓励正确使用假肢，并有助于避免可能导致长期健康问题的运动。该项目的最后一部分将使用多目标优化技术来动态调整假肢的性能，确保它继续适应并提供最佳帮助。这项研究的预期成果包括显著改善BKA用户的移动性和生活质量，以及可以使更广泛的移动性挑战人群受益的新见解，为可穿戴机器人和辅助技术的未来发展提供信息。该奖项反映了NSF的法定使命，并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，被认为值得支持。

Despite great strides in personalized assistive devices, it remains challenging to achieve tailored performance in prosthetic devices for below-knee amputations (BKA). Wearable devices often provide a fixed level of assistance that does not adapt to user needs. This CAREER project seeks to innovate by acknowledging the unique movement patterns and sensory needs of individuals with BKA. The project aim is to develop a new form of personalized robotic prosthesis that is capable of adjusting to the individual movement patterns of BKA users to enhance their mobility and overall quality of life. Successful completion of this project will deepen our understanding of human-robot interaction and foster more inclusive technology designs. Additionally, the project integrates educational activities that aim to raise awareness about advanced technology among diverse student groups, including those with limited mobility and those who are underserved in STEM fields. This approach not only promotes inclusive education but also inspires a new generation of STEM professionals, contributing positively to society.The research goal of this CAREER project is to transform the design and application of wearable robots for people with below-knee amputations (BKA) by focusing on personalized assistance that adapts to human changes. The motivation driving this research is that wearable robots, which are continually personalized and co-adaptive to user changes, will greatly improve outcomes for BKA users. The project includes three main studies. The first study will develop and test a personalized robotic prosthesis, using advanced adaptive optimization and biofeedback methods to adjust the device according to each user's specific needs. This personalized approach will allow the prosthesis to adapt in real-time to the user's movements. The second study will develop a coaching strategy using verbal instructions and real-time visual feedback, helping users learn and maintain beneficial movement patterns. This will encourage correct use of the prosthesis and help avoid movements that could cause long-term health problems. The final part of the project will use multi-objective optimization techniques to dynamically adjust the performance of the prosthetic, ensuring it continues to adapt and provide the best assistance. The expected results of this research include significantly improved mobility and quality of life for BKA users and new insights that could benefit a wider range of people with mobility challenges, informing future developments in wearable robotics and assistive technology.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.