Hands-free Control of an Assistive Robotic Arm for High Level Paralysis

用于高度瘫痪的辅助机械臂的免提控制

• 批准号: 10741948
• 负责人: ANDREW J FUGLEVAND
• 金额: $ 14.66万
• 依托单位: UNIVERSITY OF ARIZONA
• 依托单位国家: 美国
• 财政年份: 2023
• 资助国家: 美国
• 起止时间: 2023-08-01 至 2025-07-31
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10741948
• 关键词: 3-Dimensional; Activities of Daily Living; Affect; Attention; Awareness; Bathing; Beds; Benchmarking; Brain; Cervical; Complex; Computers; Data; Dedications; Development; Devices; Eating; Environment; Evaluation; Face; Facial Expression; Facial Muscles; Future; Gases; Goals; Hand; Head; Head Movements; Health; Hygiene; Implanted Electrodes; Individual; Intuition; Investigation; Joystick; Left; Lesion; Lifting; Limb structure; Location; Lower Extremity; Maps; Methods; Modality; Movement; Mus; Operative Surgical Procedures; Paralysed; Patients; Performance; Personal Satisfaction; Personal Space; Positioning Attribute; Procedures; Psyche structure; Publications; Quadriplegia; Risk; Robot; Robotics; Scheme; Self-Help Devices; Side; Signal Transduction; Spinal cord injury; Standardization; Sterile coverings; System; Technology; Testing; Thinking; Tongue; Training; Upper Extremity; Voice; Well in self; Wheelchairs; Work; arm; assistive robot; brain machine interface; cost; efficacy evaluation; feeding; grasp; improved; input device; neural; robot control; robotic device

PROJECT SUMMARY/ABSTRACT Simple tasks such as using a computer, feeding oneself, personal hygiene, and grabbing objects are impossible for high level tetraplegics without assistance. Remarkable advances in brain-machine interfaces (BMIs) in the past 20 years, however, have demonstrated that paralyzed individuals can exert good control over assistive robotic devices derived from neural recordings using electrodes implanted in the brain. Despite the promise of such BMIs, there nevertheless remain significant shortcomings, including 1) the duration over which neural recordings remain viable is limited to a couple of years, and 2) the procedure requires invasive surgery associated with substantial risks and costs. Most individuals with high level paralysis, however, retain the ability to voluntarily move their head and tongue, activate facial muscles, and can speak. It seems reasonable to hypothesize, therefore, that signals derived from these actions could be used to control movements of a robotic arm accurately and intuitively. The main goal of this project, therefore, is to evaluate the utility of non-invasive methods to supply the inputs needed to control movements of a robotic limb to perform a variety of tasks. Toward this goal, we will carry out three specific aims: 1) evaluate control types (position and velocity) and input modalities (head, face/head EMG, tongue, voice) for regulating robotic arm position, 2) assess various methods to control robot arm grasping, 3) characterize improvements in robotic arm control performing standardized real-world tasks with practice. Importantly, data collected here using non- invasive methods during standardized tasks will provide a crucial benchmark needed for evaluation of, and justification for using BMIs developed in the future. Moreover, this project will provide a major advance toward the development of non-invasive and readily controlled assistive robotic arms that could greatly increase the independence and well-being of individuals stricken with high-level paralysis.

项目摘要/摘要 简单的任务，如使用计算机、自己吃饭、个人卫生和抓取物品 如果没有帮助，高水平四肢瘫痪是不可能的。脑机接口领域的显著进展 然而，在过去的20年里，(BMI)已经证明，瘫痪的人可以实施良好的控制 而不是使用植入大脑的电极从神经记录中获得的辅助机器人设备。尽管 尽管这种BMI有希望，但仍然存在重大缺陷，包括1)持续时间超过 哪些神经记录仍然有效仅限于几年，以及2)该程序需要侵入性 手术伴随着巨大的风险和成本。然而，大多数高度瘫痪的人仍保留着 主动移动头部和舌头，激活面部肌肉，并能说话的能力。似乎 因此，合理的假设是，从这些行动中得出的信号可以用来控制 机械臂的准确和直观的运动。因此，该项目的主要目标是评估 使用非侵入性方法来提供控制机器人肢体运动所需的输入 执行各种任务。为了实现这一目标，我们将实现三个具体目标：1)评估控制类型 (位置和速度)和用于调节机械臂的输入方式(头、脸/头肌电、舌头、声音) 位置，2)评估控制机械臂抓取的各种方法，3)描述机械臂的改进 通过实践控制执行标准化的真实任务。重要的是，这里收集的数据使用非 标准化任务期间的侵入性方法将为评估和 使用未来开发的BMI的理由。此外，该项目将在以下方面取得重大进展 非侵入性和易于控制的辅助机械臂的开发可以大大增加 高度瘫痪患者的独立性和幸福感。