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
基本信息
- 批准号:10538545
- 负责人:
- 金额:$ 44.1万
- 依托单位:
- 依托单位国家:美国
- 项目类别:
- 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:
- 关键词:AdoptionAmericanAmputeesAreaArtificial LegBiomechanicsClinicalCommunitiesDataDegree programDevice or Instrument DevelopmentDevicesDoctor of PhilosophyElectrical EngineeringEnvironmentGaitGait speedGenerationsGoalsHandHomeHourHumanHuman bodyJointsKneeKnowledgeLeadLegLifeLocomotionLower ExtremityMachine LearningMathematical Model SimulationMeasurableMeasuresMechanicsMedical centerMethodologyMethodsMissionModelingMotionMotorMotor ActivityNational Institute of Biomedical Imaging and BioengineeringNational Institute of Child Health and Human DevelopmentOrthotic DevicesPhasePlayProcessProgram DevelopmentProsthesisPublic HealthQualifyingQuality of lifeResearchResearch PersonnelRunningSamplingSpeedSpinal cord injuryStrokeStudy modelsSystemTechnical ExpertiseTechnologyTimeUnited States National Institutes of HealthWalkingWorkankle prosthesisclinical applicationclinical outcome assessmentclinically significantdesignexoskeletonexperiencehuman datahuman modelimprovedinnovationkinematicsmathematical modelmultidisciplinarypowered prosthesisprogramsprosthesis controlrehabilitation researchrobot controlsensorsuccesstechnology developmenttemporal measurementtrend
项目摘要
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
项目成果
期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
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Robert D Gregg其他文献
Robert D Gregg的其他文献
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{{ truncateString('Robert D Gregg', 18)}}的其他基金
Understanding Personalized Control with Modular Powered Orthoses
了解模块化动力矫形器的个性化控制
- 批准号:
10590336 - 财政年份:2022
- 资助金额:
$ 44.1万 - 项目类别:
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 - 财政年份:2021
- 资助金额:
$ 44.1万 - 项目类别:
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:
10531998 - 财政年份:2018
- 资助金额:
$ 44.1万 - 项目类别:
Controlling Robot-Assisted Locomotion with Extended Kalman Filter Estimates of Phase and Activity
使用扩展卡尔曼滤波器估计相位和活动来控制机器人辅助运动
- 批准号:
10328286 - 财政年份:2018
- 资助金额:
$ 44.1万 - 项目类别:
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:
10055806 - 财政年份:2018
- 资助金额:
$ 44.1万 - 项目类别:
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:
9925236 - 财政年份:2018
- 资助金额:
$ 44.1万 - 项目类别:
PHASE-BASED CONTROL OF LOCOMOTION FOR HIGH-PERFORMANCE PROSTHESES AND ORTHOSES
基于相位的高性能假肢和矫形器运动控制
- 批准号:
8569754 - 财政年份:2013
- 资助金额:
$ 44.1万 - 项目类别:
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