Enhancing Voluntary Motion in Broad Patient Populations with Modular Powered Orthoses

使用模块化动力矫形器增强广大患者群体的自主运动

• 批准号: 10190208
• 负责人: Robert D Gregg
• 金额: $ 176.74万
• 依托单位: UNIVERSITY OF MICHIGAN AT ANN ARBOR
• 依托单位国家: 美国
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-09-22 至 2024-09-21
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/10190208
• 关键词: Acoustics; Activities of Daily Living; Adoption; Adult; American; Ankle; Centers for Disease Control and Prevention (U.S.); Clinic; Data Set; Devices; Doctor of Philosophy; Elderly; Electrical Engineering; Feasibility Studies; Gait; Goals; Hip region structure; Home; Human; Human body; Immobilization; Impairment; Individual; Joints; Knee; Knowledge; Lead; Lifting; Limb structure; Locomotion; Lower Extremity; Mechanics; Methods; Michigan; Mission; Motion; Motor; Muscle; Musculoskeletal Diseases; National Institute of Biomedical Imaging and Bioengineering; Noise; Orthotic Devices; Output; Pattern; Performance; Population; Population Heterogeneity; Posture; Prosthesis; Prosthesis Design; Public Health; Quality of life; Rehabilitation therapy; Research Personnel; Robot; Science; Shapes; Specialist; Stroke; System; Techniques; Technology; Torque; Translating; Universities; Weight; Work; age related; base; chronic stroke; clinical application; clinically significant; design; exoskeleton; experience; experimental study; flexibility; frailty; functional outcomes; human subject; improved; improved mobility; in silico; innovation; kinematics; light weight; multidisciplinary; patient population; physical therapist; powered prosthesis; preference; recruit; robot rehabilitation; sarcopenia; success; transmission process

PROJECT ABSTRACT The overall goal of this project is to develop modular, lower-limb, powered orthoses that fit to user-specific weakened joints and control force/torque in a manner that enhances voluntary motion in broad patient populations. Conventional orthoses tend to immobilize joints, and emerging powered orthoses constrain voluntary motion by using highly geared electric motors and/or control methods that force the user to follow a specific gait pattern. Consequently, these devices have not seen widespread success across populations with weakened voluntary control due to stroke, advanced age, or musculoskeletal disorders. These heterogeneous populations require partial, not full, assistance of user-specific muscle groups during daily activities. However, there is a fundamental gap in knowledge about how to design and control powered orthoses to assist the user without constraining their motion. The central hypothesis of this project is that high-torque, low-inertia motor systems controlled with energetic objectives will enable modular powered orthoses to partially assist the joints. High-torque electric motors combined with minimal transmissions can be freely rotated (i.e., backdriven) by human joints, allowing the use of an emerging torque control method called energy shaping to reduce the perceived weight/inertia of the body during any motion. By mounting these modular actuators to commercial orthoses, this technology will be easily prescribed/configured by clinicians. The project aims are as follows: Aim 1: Develop design paradigm to enable backdrivable, modular powered orthoses. Hypothesis: A torque-dense “pancake” motor with a low gear ratio will provide high output torque, low backdrive torque, low acoustic noise, and energy efficiency in lightweight, powered orthosis joint modules. Aim 2: Develop torque control paradigm to facilitate voluntary motion assistance in orthoses. Hypothesis: Modular joint configurations of partial-assist orthoses will provide torque assistance by selectively offloading mass and inertia in the human body through energy shaping. Aim 3: Establish feasibility of assisting different populations with modular powered orthoses. Hypothesis: Assisting lower-limb musculature with modular powered orthoses will improve functional outcomes in subjects with chronic stroke or sarcopenia, and improve lifting/lowering posture in able-bodied subjects. This project will be technologically significant to the design of modular powered orthoses for enhancing voluntary motion, scientifically significant to understanding how to control body energetics to partially assist different joints in a task-invariant manner, and clinically significant to the widespread adoption of powered orthoses to restore mobility in broad populations with weakened voluntary control. The flexible assistance offered by this modular orthosis technology will have a profound impact on mobility and quality of life for tens of millions of Americans, as nearly 1 in 8 adults have a mobility limitation according to the U.S. CDC.

项目摘要 这个项目的总体目标是开发模块化，下肢，动力矫形器，适合用户特定的 削弱关节并以增强广泛患者自主运动的方式控制力/扭矩 人口。传统的矫形器倾向于破坏关节，而新兴的动力矫形器限制了 通过使用高齿轮传动的电动马达和/或控制方法，迫使用户跟随一个或多个方向， 特定的步态模式。因此，这些装置在患有糖尿病的人群中尚未取得广泛成功。 由于中风、高龄或肌肉骨骼疾病导致的自主控制能力减弱。这些异构 人群在日常活动中需要用户特定肌肉群的部分而非全部辅助。然而，在这方面， 关于如何设计和控制动力矫形器以帮助使用者的知识存在根本性的差距 而不限制它们的运动。该项目的中心假设是，高扭矩，低惯性电机 由能量目标控制的系统将使模块化动力矫形器能够部分地辅助关节。 与最小传动装置结合的高扭矩电动机可以自由旋转（即，backdriven）by 人体关节，允许使用一种新兴的扭矩控制方法，称为能量成形，以减少 在任何运动期间身体的感知重量/惯性。通过将这些模块化执行器安装到商用 矫形器，这项技术将很容易处方/配置由临床医生。该项目的目标如下： 目标1：开发设计范例，以实现可反向驱动的模块化动力矫形器。 假设：低传动比的扭矩密集型“饼”电机将提供高输出扭矩、低反向驱动 扭矩、低噪音和能源效率，重量轻，动力矫形器关节模块。 目标2：发展扭矩控制范例，以促进矫形器的自主运动辅助。 假设：部分辅助矫形器的组配式关节配置将通过选择性地 通过能量塑形来减轻人体的质量和惯性。 目的3：确定使用模块化动力矫形器辅助不同人群的可行性。 假设：使用模块化动力矫形器辅助下肢肌肉组织将改善功能结局 在患有慢性中风或肌肉减少症的受试者中，以及在身体健全的受试者中改善提升/降低姿势。 本研究对模块化动力矫形器的设计具有重要的技术意义， 随意运动，对理解如何控制身体能量部分辅助， 不同的关节在一个任务不变的方式，并在临床上显着的广泛采用动力 矫形器，以恢复广泛的人口与自愿控制减弱的流动性。灵活的援助 这种模块化矫形器技术提供的功能将对数十人的移动性和生活质量产生深远的影响。 根据美国疾病控制和预防中心的数据，近八分之一的成年人有行动限制。