Interactive Robotic and Rehabilitation Systems

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Robotics is emerging as an important tool in various application areas such as medical, aerospace, manufacturing, and search and rescue. With this growth, there is higher levels of physical Human-Robot Interaction (pHRI), there are more shared spaces between the two, and therefore, there is more potential for unsafe interactions and collisions. This research aims at developing generic control and sensing strategies which can ensure stability of pHRI and better react to collisions in order to increase human safety and minimize the risk of injuries. An emphasis will be given to rehabilitation robotic platforms though the results are equally applicable to industrial applications. Due to the importance of mobility to the quality of life, this research also investigates bipedal walking balance in robots and human and proposes and validates interactive technologies to enhance balance in people with balance impairment. ***The first technical goal of the project is to develop a generic control structure which can guarantee stability and safety without relying on accurate dynamic models from the robot or the environment. These controllers will be validated using simulation tools as well as the new rehabilitation robotic tools recently developed by the applicant's team at the Advanced Biomechatronics and Locomotion (ABL) lab at Carleton. A novel compliant robot limb sensor and associated reactive controllers will be developed, which can minimize the risk of injuries in case of collisions with human. The stability of the resulting systems will be investigated using the same platforms. A series of validation experiments will be conducted on the feasibility and efficiency of early stroke rehabilitation using the novel foot-haptic exercises provided by these new robots. This research will combine the knowledge of bipedal robotic walking at ABL with new sensor techniques to measure balance and predict falls in humans. The research will then conceive, develop and test a full tactile assistive device capable of enhancing balance in people with balance impairment. The resulting wearable biofeedback system will enable users to anticipate and adjust their postures to prevent falls.***This multidisciplinary research will generate significant knowledge in mechanical, biomedical, and controls engineering. The new robotic systems and assistive devices can improve the quality of life of many Canadians who are recovering from a stroke or intensive surgeries, have neural or orthopedic condition resulting in balance impairment, or have disabilities which restric their mobility. The research team will collaborate with geriatrics, rehabilitation, orthopedic, and pediatrics departments in local and national hospitals. Collaborative research is also expected with industrial partners to apply the resulting knowledge to develop technologies usable to their future products.**