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Real-time quantification of muscle-tendon dynamics for individualized and adaptive robot-assisted locomotion

实时量化肌肉肌腱动力学，以实现个性化和自适应机器人辅助运动

基本信息

批准号：
10224927
负责人：
ROBERT D HOWE
金额：
$ 21.48万
依托单位：
HARVARD UNIVERSITY
依托单位国家：
美国
项目类别：
财政年份：
2020
资助国家：
美国
起止时间：
2020-08-01 至 2023-07-31
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/10224927
关键词：
15 year old Acceleration Achievement Adult Algorithms American Ankle Behavior Biological Biomechanics Caliber Catheters Censuses Clinical Communities Complex Custom Data Data Set Development Devices Economics Elderly Ensure Environment Face Future Gait Gastrocnemius Muscle Generations Health Healthcare Hip Joint Human Image Imaging technology Impairment Individual Investigation Joints Kinetics Leg Life Locomotion Manuals Measurement Measures Metabolic Methods Motion Muscle Muscle Contraction Participant Pathologic Phase Pilot Projects Reaction Reporting Research Personnel Research Project Grants Risk Robot Role Series Signal Transduction Soleus Muscle Speed Survivors System Techniques Technology Tendon structure Testing Textiles Time Torque Ultrasonography Validation Walking Work achilles tendon adaptive robot ankle joint base community setting comorbidity cost design disability effectiveness validation exoskeleton exosuit experience heart imaging human-in-the-loop image processing improved individual response individual variation insight instrumentation kinematics light weight novel strategies operation patient population portability post stroke response robot assistance sensor young adult

项目摘要

Walking function has a critical role in life functions and health. According to the Americans with Disability: 2010 report from the US Census Bureau, roughly 30.6 million individuals aged 15 years and older had limitations associated with ambulation including difficulty walking. These limitations represent a significant healthcare, societal and economic problem, as these people are at risk of developing co-morbidities, rapidly declining health, and face significant challenges associated with integrating into the community and rejoining the workforce. Impaired ankle function is thought to be a major contributing factor to the reduced gait function in elderly and stoke survivors. Recent results suggest that ankle-assisting exosuits can improve gait after stroke. The Biodesign Lab has developed new soft exoskeleton systems (“exosuits”) that are constructed from compliant materials such as fabrics and transmit force from small actuator packs to ankle and hip joints. By triggering actuation to assist the user at carefully-selected phases of the gait cycle, these systems demonstrably reduce the energetic cost of locomotion and can help correct pathological gait. Compared to traditional rigid exoskeletons, these systems are lightweight, comfortable, and do not hinder normal joint motions. Numerous studies have confirmed that wearable ankle exoskeletons or exosuits can significantly lower the metabolic cost of locomotion and promote more effective gait. However, individual benefit varies widely and the assistance parameters (e.g. applied joint torque, timing) that work well for some individuals are counterproductive for others. State-of-the-art techniques such as empirical optimization are successful in finding the metabolic optimum but are time intensive and often limited to the gait condition tested. Additionally, these methods so far fail to provide a mechanistic explanation for differences in individual response which could be used to improve exosuit design and function. This proposal targets a new approach for quickly individualizing assistance through the development of low- profile and portable ultrasound imaging technology that can visualize and measure the behavior of muscles and tendons within the leg. The hypothesis is that direct measurement of the dynamics of the plantarflexor muscle- tendon unit (MTU) using ultrasound imaging will provide essential insight into the mechanisms that underlie human interaction with exosuit assistance. Furthermore, signals derived from MTU dynamics can enable effective individualized and adaptive exosuit assistance in diverse gait conditions. This developmental R21 project will result in the creation and validation of a system to measure the state of important MTU parameters in the leg during exosuit operation. The rich biomechanics dataset will provide insights into user response and will be made available to researchers. The preliminary work with elderly individuals will provide the framework for extending the potential of exosuit technology to a broader range of clinical users where assistive strategies are customized to the user and the demands of real-world locomotion.

步行功能在生命功能和健康中起着至关重要的作用。根据美国残疾人组织：2010年根据美国人口普查局的一份报告，大约有3060万15岁及以上的人患有限制性疾病，与包括行走困难在内的截肢有关。这些限制代表了一种重要的医疗保健，社会和经济问题，因为这些人有可能患上并发症，健康状况迅速下降，并面临着融入社区和重新加入劳动力队伍的重大挑战。踝关节功能受损被认为是老年人步态功能下降的主要因素，斯托克幸存者。最近的研究结果表明，踝关节辅助外装可以改善中风后的步态。 Biodesign实验室已经开发出新的软外骨骼系统（“外骨骼服”），材料，如织物和传输力从小致动器包脚踝和髋关节。通过触发驱动以在步态周期的仔细选择的阶段辅助用户，这些系统明显地减少了能量消耗的运动，并可以帮助纠正病理步态。与传统的刚性外骨骼相比，这些系统重量轻、舒适并且不妨碍正常的关节运动。许多研究已经证实，可穿戴的踝关节外骨骼或外骨骼服可以显著降低运动员的运动能力。运动的代谢成本和促进更有效的步态。然而，个人福利差别很大，对某些人有效的辅助参数（例如，施加的关节扭矩、定时）是对其他人产生反作用。国家的最先进的技术，如经验优化是成功的，在寻找代谢最佳，但时间密集，往往限于步态条件测试。此外，这些迄今为止的方法未能为个体反应的差异提供机械解释，用于改进机器护甲的设计和功能。这项建议的目标是通过发展低成本的、可持续的、可持续的援助，轮廓和便携式超声成像技术，可以可视化和测量肌肉的行为，腿部的肌腱假设直接测量跖屈肌的动力- 使用超声成像的肌腱单位（MTU）将提供基本的洞察机制，人与机器护甲辅助的相互作用。此外，从MTU动力学导出的信号可以使得在不同的步态条件下提供有效的个性化和自适应的机器护甲辅助。这个发展的R21项目将导致一个系统的创建和验证，以衡量的状态，在机器护甲操作期间腿部的重要MTU参数。丰富的生物力学数据集将提供深入了解用户的反应，并将提供给研究人员。与老年人的初步工作个人将提供框架，将机器护甲技术的潜力扩展到更广泛的领域，临床用户，其中辅助策略根据用户和现实世界运动的需求定制。