Terrain Imaging and Adaptive Control of Exoskeletons

外骨骼的地形成像和自适应控制

• 批准号: 10255357
• 负责人: Adam Becker
• 金额: $ 87.72万
• 依托单位: INNOVATIVE DESIGN LABS, INC.
• 依托单位国家: 美国
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-07-15 至 2023-06-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/10255357
• 关键词: Admission activity; Algorithms; Ankle; Area; Bionics; Brain Injuries; Caliber; Characteristics; Clinical; Collaborations; Communities; Complex; Custom; Devices; Dreams; Emerging Technologies; Engineering; Environment; Equilibrium; Evaluation; FDA approved; Feedback; Floor; Gait; Gait speed; Human; Image; Individual; Knowledge; Laboratories; Letters; Life; Medical; Motor; Movement; Patients; Phase; Pilot Projects; Positioning Attribute; Production; Ramp; Rehabilitation Centers; Rehabilitation therapy; Research; Robotics; Safety; Sales; Spinal cord injury; Stroke; Surface; System; Testing; Three-Dimensional Imaging; Time; Validation; Walking; Wheelchairs; cost; design; exoskeleton; fall risk; human study; improved; innovation; kinematics; operation; physical therapist; prototype; robot exoskeleton; social; stroke patient

Project Summary/Abstract Proposed is a system to enhance the capabilities, safety, and accessibility of exoskeletons through innovative 3D imaging and adaptive control. Significance: Medical exoskeletons are an exciting and emerging technology that can be found at over 270 rehabilitation centers around the world. Clinical evidence has shown that rehabilitation with exoskeletons can improve functional balance outside of the exoskeleton in people with motor incomplete SCI and can improve walking distance and gait speed for people recovering from a stroke at discharge compared to admission. While exoskeletons are sophisticated systems that have matured significantly and demonstrated clinical utility over the years, they are still primarily restricted to ambulating in a straight-line fashion across level flooring while aided by a physical therapist. Hypothesis: Our proposal aims to provide exoskeletons with the ability to traverse uneven terrain including slopes and staircases inside and outside of clinical settings and in the presence of obstacles. The system will fuse imaging information with the suit’s kinematic information and ground contact sensing to provide the exoskeleton’s control system and actuators with the required feedback to continuously adapt its balance and gait parameters to approach ground surfaces, dynamically adjusting to slopes & steps, avoiding tripping, or notifying the user that further forward movement is unsafe or unachievable. Specific Aims: In Phase II, IDL and its collaborators will: (1) Develop production-ready terrain sensing and actuator hardware and firmware, (2) Incorporate and integration test the system with an exoskeleton control system, and (3) Perform a human study and evaluation of the system.

项目总结/摘要 提出了一种系统，通过创新的方法来增强外骨骼的能力、安全性和可访问性。 3D成像和自适应控制。意义：医用外骨骼是一种令人兴奋和新兴的 这项技术在世界各地的270多个康复中心都可以找到。临床证据显示 外骨骼康复可以改善患有外骨骼疾病的人的外骨骼外的功能平衡， 运动不完全性脊髓损伤，可以改善步行距离和步态速度的人从中风恢复， 出院与入院相比。虽然外骨骼是成熟的复杂系统， 尽管这些年来已经显著地并证明了临床实用性，但它们仍然主要限于在 在物理治疗师的帮助下，以直线方式穿过水平地板。假设：我们的建议旨在 为外骨骼提供穿越不平坦地形的能力，包括斜坡和内部楼梯， 在临床环境之外和存在障碍的情况下。该系统将融合成像信息与 服装的运动学信息和地面接触感测，以提供外骨骼的控制系统， 具有所需反馈的致动器，以连续地调整其平衡和步态参数以接近地面 表面，动态调整到斜坡和步骤，避免绊倒，或通知用户，进一步前进 移动是不安全或无法实现的。具体目标：在第二阶段，IDL及其合作者将：（1）开发 生产就绪的地形传感和致动器硬件和固件，（2）整合和集成测试 具有外骨骼控制系统的系统，以及（3）执行系统的人体研究和评估。