NRI: Small: Control of Powered Segmented Legs for Humanoid & Rehabilitation Robotic

描述（由申请人提供）：步态康复机器人的主流控制策略是强制执行在人类运动中观察到的预定义运动模式。虽然这种方法可以在明确的环境中恢复稳定的人类行走，但它并没有使人-机器人系统具有在自然非结构化环境中区分腿部移动的功能灵活性。为了克服这一基本限制，本研究的长期目标是揭示人类腿部跨步态运动的生物力学设计和神经肌肉控制背后的功能原理，并将这些原理应用于动力腿假体和外骨骼的设计和控制，以恢复或增强需要运动辅助的个体的身体能力。在这个应用程序的第一个具体目标是了解生物力学和神经肌肉控制的关键腿部行为，主动平衡恢复后的大干扰，持续的速度变化，步行和跑步结合，步态转换。第二个具体目的是演示和验证所提取的原理对动力机器人腿的控制和灵巧性的优势。这些目标将通过推导人类运动中神经肌肉控制的理论和计算模型来解决，并通过开发一个机器人腿测试平台来复制人类和假腿的驱动和动力学，并允许严格表征拟议的腿设计和控制。这项工作将有助于对人类运动的感觉运动控制进行逆向工程，并有可能产生恢复或增强老年人、病人和截肢者身体能力的辅助技术。这两个方向都可以对社会产生广泛的影响，特别是在公共卫生保健方面。该项目直接关系到联合国儿童基金会关于医疗康复的研究优先事项，即发展增进残疾人健康、生产力、独立性和生活质量所需的科学和技术知识。

DESCRIPTION (provided by applicant): The prevailing control strategy in gait rehabilitation robotics is to enforce predefined motion patterns observed In human locomotion. Although this approach can restore steady human walking In well-defined environments, it does not equip the human-robot system with the functional dexterity that distinguishes legged mobility In natural unstructured environments. To overcome this fundamental limitation, the longterm objectives of the proposed work are to uncover the functional principles behind the biomechanical design and neuromuscular control of human legs In locomotion across gaits, and to transfer these principles to the design and control of powered leg prostheses and exoskeletons that restore or enhance the physical capabilities of Individuals who need locomotion assistance. The first specific aim In this application is to understand the biomechanics and neuromuscular control of the key leg behaviors of active balance recovery after large disturbances, continuous speed changes, combined walking and running, and gait transitions. The second specific aim Is to demonstrate and verify the advantages of the extracted principles to the control and dexterity of powered robotic legs. These aims will be addressed by deriving theoretical and computational models of neuromuscular control In human locomotion, and by developing a robotic leg testbed that replicates the actuation and dynamics of human and prosthetic legs and allows to rigorously characterize proposed leg designs and controls. The proposed work will help to reverse-engineer the sensorimotor control of human locomotion and has the potential to result In assistive technology that restores or enhances the physical capabilities of elderly people, patients, and amputees. Both directions can create a broad Impact on society, with particular benefits in public health care. The project directly relates to the NICHD research priority on medical rehabilitation for developing the scientific and technical knowledge needed to enhance health, productivity, Independence, and quality-of-life for people with disabilities.