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 该项目的总体目标是开发适合特定用户的模块化下肢动力矫形器 削弱关节并以增强广大患者随意运动的方式控制力/扭矩 人口。传统的矫形器倾向于固定关节，而新兴的动力矫形器则限制了关节的活动。 通过使用高齿轮电动机和/或迫使用户遵循一定规律的控制方法来进行自愿运动 特定的步态模式。因此，这些设备尚未在患有此病的人群中取得广泛成功。 由于中风、高龄或肌肉骨骼疾病导致自主控制能力减弱。这些异类 人群在日常活动中需要用户特定肌肉群的部分而非全部帮助。然而， 关于如何设计和控制动力矫形器以协助用户，在知识上存在根本差距 而不限制他们的运动。该项目的中心假设是高扭矩、低惯量电机 由能量目标控制的系统将使模块化动力矫形器能够部分辅助关节。 高扭矩电动机与最小的传动装置相结合，可以通过以下方式自由旋转（即反向驱动）： 人体关节，允许使用一种称为能量整形的新兴扭矩控制方法来减少 在任何运动过程中感知到的身体重量/惯性。通过将这些模块化执行器安装到商业 矫形器，临床医生可以轻松地规定/配置这项技术。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：具有低齿轮比的扭矩密集型“薄饼”电机将提供高输出扭矩、低反向驱动 轻型动力矫形器关节模块的扭矩、低噪音和能源效率。 目标 2：开发扭矩控制范例，以促进矫形器的自主运动辅助。 假设：部分辅助矫形器的模块化关节配置将通过选择性地提供扭矩辅助 通过能量塑造减轻人体的质量和惯性。 目标 3：建立使用模块化动力矫形器帮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果 患有慢性中风或肌肉减少症的受试者，并改善身体健全受试者的举起/放下姿势。 该项目对于模块化动力矫形器的设计具有重要的技术意义，以增强 随意运动，对于理解如何控制身体能量以部分协助具有科学意义 以任务不变的方式控制不同的关节，对于广泛采用动力驱动装置具有临床意义 矫形器可恢复自愿控制能力减弱的广大人群的活动能力。灵活的援助 这种模块化矫形器技术将对数十人的行动能力和生活质量产生深远的影响 据美国疾病控制与预防中心 (CDC) 称，近八分之一的成年人存在行动不便的问题。