Controlling Locomotion over Continuously Varying Activities for Agile Powered Prosthetic Legs

控制敏捷动力假肢连续变化活动的运动

• 批准号: 10538545
• 负责人: Robert D Gregg
• 金额: $ 44.1万
• 依托单位: UNIVERSITY OF MICHIGAN AT ANN ARBOR
• 依托单位国家: 美国
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-09-01 至 2023-11-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/10538545
• 关键词: Adoption; American; Amputees; Area; Artificial Leg; Biomechanics; Clinical; Communities; Data; Degree program; Device or Instrument Development; Devices; Doctor of Philosophy; Electrical Engineering; Environment; Gait; Gait speed; Generations; Goals; Hand; Home; Hour; Human; Human body; Joints; Knee; Knowledge; Lead; Leg; Life; Locomotion; Lower Extremity; Machine Learning; Mathematical Model Simulation; Measurable; Measures; Mechanics; Medical center; Methodology; Methods; Mission; Modeling; Motion; Motor; Motor Activity; National Institute of Biomedical Imaging and Bioengineering; National Institute of Child Health and Human Development; Orthotic Devices; Phase; Play; Process; Program Development; Prosthesis; Public Health; Qualifying; Quality of life; Research; Research Personnel; Running; Sampling; Speed; Spinal cord injury; Stroke; Study models; System; Technical Expertise; Technology; Time; United States National Institutes of Health; Walking; Work; ankle prosthesis; clinical application; clinical outcome assessment; clinically significant; design; exoskeleton; experience; human data; human model; improved; innovation; kinematics; mathematical model; multidisciplinary; powered prosthesis; programs; prosthesis control; rehabilitation research; robot control; sensor; success; technology development; temporal measurement; trend

PROJECT ABSTRACT Above-knee amputees often struggle to perform the varying activities of daily life with conventional prostheses. Emerging powered knee-ankle prostheses have motors that can restore normative biomechanics, but these devices are limited to a small set of pre-defined activities that must be tuned to the user by technical experts over several hours. The overall goal of this project is to model and control human locomotion over continuously varying tasks for the design of agile, powered prostheses that require little to no tuning. The universal use of different task-specific controllers in current powered legs is a direct consequence of the prevailing paradigm for viewing human locomotion as a discrete set of activities. There is a fundamental gap in knowledge about how to analyze, model, and control continuously varying locomotion, which greatly limits the adaptability and agility of powered prostheses. The central hypothesis of this project is that continuously varying activities can be represented by a single mathematical model based on measureable physical quantities called task variables. The proposed project will be scientifically significant to understanding how humans continuously adapt to varying activities and environments, technologically significant to the design of agile, user-synchronized powered prosthetic legs, and clinically significant to the adoption of powered knee-ankle prostheses for improved community ambulation. The proposed model of human locomotion will enable new prosthetic strategies for controlling and adapting to the environment, which aligns with the missions of the NICHD/NCMRR Devices and Technology Development program area and the NIBIB Mathematical Modeling, Simulation, and Analysis program. The innovation of this work is encompassed in 1) a continuous paradigm for variable locomotor activities that challenges the existing discrete paradigm, 2) a unified task control methodology that drastically improves the agility of powered prosthetic legs, and 3) a partially automated tuning process that significantly reduces the time and technical expertise required to configure powered knee- ankle prostheses. This continuous task paradigm will provide new methods and models for studying human locomotion across tasks and task transitions. This innovation will address a key roadblock in control technology that currently restricts powered legs to a small set of activities that do not generalize well across users. The adaptability of the proposed control paradigm across users and activities will transform the prosthetics field with a new generation of “plug-and-play” powered legs for community ambulation.

项目摘要 膝上截肢者经常很难使用传统假肢进行日常生活中的各种活动。 新兴的动力膝踝假肢具有可以恢复正常生物力学的电机，但这些 设备仅限于一小组预定义的活动，必须由技术专家针对用户进行调整 几个小时内。该项目的总体目标是模拟和控制人类运动 不断变化的任务，用于设计敏捷的动力假肢，几乎不需要调整。这 在当前动力支路中普遍使用不同的任务特定控制器是 将人类运动视为一组离散活动的流行范式。存在根本性差距 关于如何分析、建模和控制连续变化的运动的知识，这极大地限制了 动力假肢的适应性和灵活性。该项目的中心假设是不断地 不同的活动可以通过基于可测量物理量的单一数学模型来表示 称为任务变量。拟议的项目对于了解人类如何 不断适应不同的活动和环境，对敏捷设计具有技术意义， 用户同步动力假肢，对动力膝踝的采用具有临床意义 用于改善社区行走的假肢。所提出的人类运动模型将使新的 控制和适应环境的假肢策略，与该组织的使命相一致 NICHD/NCMRR 设备和技术开发计划领域和 NIBIB 数学建模， 模拟和分析程序。这项工作的创新之处在于 1）连续范式 对于挑战现有离散范式的可变运动活动，2）统一的任务控制 显着提高动力假肢敏捷性的方法，以及 3) 部分自动化 调整过程可显着减少配置动力膝关节所需的时间和技术专业知识 脚踝假肢。这种连续任务范式将为研究人类提供新的方法和模型 跨任务和任务转换的运动。这项创新将解决控制中的一个关键障碍 目前将动力腿限制为一小部分活动的技术，这些活动不能很好地推广 用户。所提出的控制范式在用户和活动之间的适应性将改变 假肢领域，配备新一代“即插即用”动力腿，用于社区行走。