Design of Human-Robot Interaction for Novel Interlimb Motor Adaptation Scenarios

新型肢体间运动适应场景的人机交互设计

• 批准号: RGPIN-2016-03859
• 负责人: VanderLoos, Hendrik
• 金额: $ 1.89万
• 依托单位: University of British Columbia
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2016
• 资助国家: 加拿大
• 起止时间: 2016-01-01 至 2017-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=614676
• 关键词: Design; Human; Robot; Interaction; Novel

The long-term objectives of my research program are: 1) to discover human sensorimotor adaptations, through the application of robotics principles, that can ultimately be exploited, based on the principles/mechanisms elucidated in this Discovery Grant program, in novel therapy regimens; 2) to enhance motor adaptation, through adaptive interaction design and 3) to drive functionality up and cost down through new formulations of human-robot mechatronic devices and sensate wearable technologies. In the short term, during the next five years I propose to advance each of these areas through the following initiatives: 1) To characterize upper-limb movement synergies through research studies that engage participants in bimanual motor tasks under a variety of stimulus-response conditions. Asymmetries in bimanual movements reduce movement quality in both able-bodied persons and those who have become hemiparetic (weak on one side) as a result of, for example, a stroke. Normal and accentuated asymmetries provide an opportunity to study neural mechanisms of motor adaptation in the adult nervous system. Two robots, with one being controlled by the kinematics of the other using novel algorithms, will allow participants to focus attention on their asymmetries during bimanual reaching motions. Practice is expected to lead to quantifiable improvements in interlimb coordination and the characterization of motor adaptation. 2) To create motor adaptation scenarios involving the upper and lower limbs simultaneously in balance and reaching tasks. Over the past 5 years, we have developed RISER, a robotic platform to study human balance, lower-limb motor adaptation, and interlimb coordination. I propose to augment our platform with mechanisms and sensors to allow all four limbs of a participant standing on RISER to be involved in a balance task or in a bimanual reaching task. The goal is to explore different combinations of sensor gains for upper and lower limbs, and for left and right limbs, to focus participant attention on asymmetries and synergies in their movements. The characterization of motor adaptation under different robot-mediated conditions can lead to an improved understanding of the neural mechanisms involved in the human control of movement. 3) To develop robust, lower-cost, wearable mechatronic devices with embedded sensing, actuator and display capabilities. The research studies described above require augmentations, in both hardware and software, to the robot devices currently available in our lab. To provide the unconventional stimuli needed, the goal is to develop partially wearable systems, in combination with robot arms and our platform set up as programmable exercise and balance devices. Multi-sensor and -actuator systems require an iterative user-centred approach to real-time programming and pilot testing to assess human reactions to novel interaction experiences.

我的研究计划的长期目标是：1）通过机器人原理的应用，发现人类感觉运动的适应性，最终可以利用，基于本发现资助计划中阐明的原理/机制，在新的治疗方案中; 2）增强运动适应性，通过自适应交互设计和3）通过人机机电设备的新配方和感知可穿戴技术来提高功能和降低成本。 在短期内，我建议在未来五年内，通过以下举措推动这些领域的发展： 1)通过在各种刺激-反应条件下参与双手运动任务的研究来表征上肢运动协同作用。双手运动的不对称性降低了身体健全的人和那些由于例如中风而变得偏瘫（一侧虚弱）的人的运动质量。正常和加重的不对称性提供了一个机会，研究在成人神经系统的运动适应的神经机制。两个机器人，其中一个由另一个使用新算法的运动学控制，将允许参与者在双手接触运动期间将注意力集中在他们的不对称性上。预计实践将导致肢体间协调和运动适应表征的量化改善。 2)创建运动适应场景，涉及上肢和下肢同时进行平衡和伸展任务。在过去的5年里，我们开发了RISER，这是一个研究人体平衡，下肢运动适应和肢体间协调的机器人平台。我建议增加我们的平台与机制和传感器，让所有四肢的参与者站在RISER参与平衡任务或双手达成的任务。我们的目标是探索不同的组合的传感器增益为上肢和下肢，并为左，右肢体，参与者的注意力集中在他们的运动的不对称性和协同作用。在不同的机器人介导的条件下的运动适应的表征可以导致更好地理解参与人类运动控制的神经机制。 3)开发具有嵌入式传感、致动器和显示功能的坚固、低成本、可穿戴的机电一体化设备。上述研究需要在硬件和软件上对我们实验室目前可用的机器人设备进行增强。为了提供所需的非常规刺激，我们的目标是开发部分可穿戴系统，结合机器人手臂和我们的平台，作为可编程的锻炼和平衡设备。多传感器和执行器系统需要一个迭代的以用户为中心的方法来实时编程和试点测试，以评估人类的反应，新的互动体验。