NRI: Novel platform for rapid exploration of robotic ankle exoskeleton control st

描述（由申请人提供）：该项目的目的是比较使用机器人踝关节矫形器帮助中风相关活动障碍患者的不同技术。一些有前途的辅助技术已经开发用于机器人假肢和康复平台。然而，其中许多尚未应用于动力矫形器或外骨骼，很少应用于踝关节，尽管踝关节在运动中很重要。这些技术的有效性还没有经过一致的测试，也没有针对中风患者进行优化，也没有直接相互比较。提出的研究通过直接比较多功能机器人平台提供的不同辅助技术的生理反应来解决这些需求。提出了一套标准化的定量绩效度量标准，包括工作量、首选速度和稳定性的度量。先前由研究人员开发的脚踝外骨骼模拟器，由于其独特的能力，可以在一个单一的机器人中表达广泛的机器人功能，因此被提议使用

DESCRIPTION (provided by applicant): The objective of this project is to compare different techniques for assisting individuals with stroke-related mobility impairments using robotic ankle orthoses. Several promising assistance techniques have been developed for robotic prostheses and rehabilitation platforms. Many of these, however, have not yet been applied to powered orthoses or exoskeletons, and few have been applied at the ankle joint, despite its importance in locomotion. The efficacy of these techniques has not been tested consistently, and techniques have not been optimized for individuals with stroke nor directly compared against each other. The proposed study addresses these needs by directly comparing physiological responses to different assistance techniques provided by a versatile robotic platform. A standardized set of quantitative performance metrics are proposed, including measures of effort, preferred speed, and stability. An ankle exoskeleton emulator, previously developed by the investigators, is proposed for use due to its unique ability to express a wide range of robotic functions in a single platform. Each promising technique will first be programmed and verified in pilot tests with the emulator. Multi-dimensional parameter studies will then be performed for each assistance technique, first on subjects without neurological impairment and then on subjects with hemiparesis following stroke. Results will be used to identify optimal parameters for each approach. Finally, an across-technique comparison will be performed using optimal parameters. These tests are expected to provide a scientific foundation for the design and prescription of robotic ankle-foot orthoses that manage symptoms for millions of individuals with stroke. Results will inform improved orthosis designs and test feasibility of designs that are both effective and low-cost. Together, these results are expected to provide the evidence base to make post-stroke care more effective, less expensive, and manageable by fewer clinical practitioners, addressing the needs of our aging population and potentially leading to reduced disparities in treatment.