Collaborative Research: Integrating Optimal Function and Compliant Mechanisms for Ubiquitous Lower-Limb Powered Prostheses

合作研究:将优化功能和合规机制整合到无处不在的下肢动力假肢中

基本信息

  • 批准号:
    2344765
  • 负责人:
  • 金额:
    $ 35.72万
  • 依托单位:
  • 依托单位国家:
    美国
  • 项目类别:
    Standard Grant
  • 财政年份:
    2024
  • 资助国家:
    美国
  • 起止时间:
    2024-09-01 至 2027-08-31
  • 项目状态:
    未结题

项目摘要

The majority of lower-limb prostheses are passive. They can dissipate and store mechanical power but cannot generate positive net power. The lack of power generation limits movements that require the user to move against gravity, such as going upstairs or transitioning from sitting to standing. This lack of power may induce uneven loads in the body, which can increase the likelihood of chronic back pain and increase the effort to walk. Active prostheses have the potential to overcome these fundamental challenges. However, commercially available powered prostheses are heavier, noisier, more expensive, and generally less accessible than unpowered versions. The overall goal of this project is to reimagine existing rigid prosthetic components as compliant mechanisms that reduce mass, energy consumption, audible noise, and part count of powered prostheses. Muscles take advantage of the elasticity of tendons (in series with the muscle) and ligaments (in parallel with the muscle) to efficiently transfer power from the muscle to the joints. This project will provide a new understanding of how to engineer elastic components in parallel with electric motors as engineered ligaments to make powered prostheses more attractive and accessible.The performance and behavior of compliant mechanisms depend on three fundamental factors: 1) material properties, 2) geometry, and 3) load-deflection response. This project will develop new knowledge to design the load-deflection response and geometry of compliant mechanisms that connect in parallel with electric motors to reduce motor torque. This reduction implies lighter, more energy-efficient, and quieter prostheses, as it requires lower reduction ratios, fewer gears meshing, lighter motors, and less heat dissipation. This collaborative project between the University of Notre Dame and Brigham Young University will establish two scientific contributions: 1) a robust convex optimization framework to design the load-deflection response of a parallel spring that guarantees motor torque reduction in multiple locomotion activities despite parametric uncertainty (e.g., user mass, walking speed); and 2) a design framework for compliant mechanisms with optimal load-deflection profiles to reimagine existing rigid components and implement the benefits of parallel compliance without a tradeoff in terms of mechanical complexity or extra components. The application of these innovations will result in an Open-Source Compliant Ankle, with open-source designs available online that complement the existing NSF-funded Open-Source Leg. The research team will collaborate with non-profit organization 2ft Prosthetics and local Amputee Support Groups to incorporate the feedback from prosthetic users, manufacturers, and clinicians into new designs. The outcomes of this research will include the organization of a conference workshop, new content in a graduate-level class on Wearable Robotics, and a 3-week summer program for local middle schoolers interested in STEM education.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.
大多数下肢假肢是被动的。它们可以消耗和储存机械能,但不能产生正的净功率。缺乏发电限制了需要用户克服重力移动的运动,例如上楼或从坐着过渡到站立。 这种动力的缺乏可能会导致体内负荷不均匀,从而增加慢性背痛的可能性并增加行走的努力。主动假肢有潜力克服这些根本性挑战。然而,市售的动力假体比无动力假体更重、噪音更大、更昂贵,并且通常更难获得。该项目的总体目标是将现有的刚性假体部件重新构想为顺应性机制,以减少动力假体的质量、能耗、可听噪声和部件数量。肌肉利用肌腱(与肌肉串联)和韧带(与肌肉并联)的弹性,有效地将力量从肌肉传递到关节。该项目将提供一种新的理解,即如何将弹性部件与电动马达并联设计为工程韧带,使动力假体更具吸引力和可访问性。柔顺机构的性能和行为取决于三个基本因素:1)材料特性,2)几何形状,3)载荷-偏转响应。这个项目将开发新的知识来设计与电动机并联连接以减少电动机扭矩的柔顺机构的负载-偏转响应和几何形状。这种减少意味着更轻,更节能,更安静的假肢,因为它需要更低的减速比,更少的齿轮啮合,更轻的电机和更少的散热。圣母大学和杨百翰大学之间的这个合作项目将建立两个科学贡献:1)一个鲁棒的凸优化框架,用于设计平行弹簧的负载-偏转响应,尽管参数不确定性(例如,用户质量、步行速度);以及2)具有最佳载荷-偏转轮廓的柔顺机构的设计框架,以重新设想现有的刚性部件并实现平行柔顺性的益处,而无需在机械复杂性或额外部件方面进行权衡。这些创新的应用将导致一个开源兼容踝关节,开源设计可在线提供,补充现有的NSF资助的开源腿。该研究团队将与非营利组织2ft Prosthetics和当地截肢者支持团体合作,将假肢用户,制造商和临床医生的反馈纳入新的设计中。该研究成果将包括组织研讨会、在研究生阶段开设可穿戴机器人课程的新内容,以及为对STEM教育感兴趣的当地中学生开设为期3周的暑期课程。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。

项目成果

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