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

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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. **