NSF-CPS-Medium: Collaborative Research: Design and development of a cybernetic exoskeleton for hand-wrist rehabilitation through the integration of human passive properties

机器人设备是提供重复性和高强度练习的优秀候选人，可以恢复上肢的功能使用，甚至在中风后几年。特别是手腕和手的康复对于功能恢复至关重要，因为手是与外界接触的主要界面。然而，专注于手部康复的机器人设备由于成本过高、复杂或功能有限而受到限制。为这类设备设计和控制策略以弥补这一差距是至关重要的。研究的目标是分析被动动力学的特性和作用，由关节刚度和阻尼定义，在人类的手和手腕在抓取和操作过程中，然后模拟这种特性的手腕-手外骨骼中风康复。该项目最终将与康复临床医生合作进行设备测试。机器人康复的一个重要问题是如何为手部的多个自由度提供辅助运动，以恢复运动协调和功能，并在临床环境中部署一个实用的系统。有了对被动动力学和系统控制机制的更清晰理解，该项目将为设计更有效的手腕/手部康复设备提供信息，这些设备可用于临床使用。此外，拟议的项目将创造一个独特的跨学科环境，为研究生、本科生研究提供教育、培训和共同建议，并为科学和工程领域代表性不足的群体提供重要和有针对性的外展活动。

Robotic devices are excellent candidates for delivering repetitive and intensive practice that can restore functional use of the upper limbs, even years after a stroke. Rehabilitation of the wrist and hand in particular are critical for recovery of function, since hands are the primary interface with the world. However, robotic devices that focus on hand rehabilitation are limited due to excessive cost, complexity, or limited functionality. A design and control strategy for such devices that bridges this gap is critical. The goals of the research effort are to analyze the properties and role of passive dynamics, defined by joint stiffness and damping, in the human hand and wrist during grasping and manipulation, and then mimic such properties in a wrist-hand exoskeleton for stroke rehabilitation. The project will culminate with device testing in collaboration with rehabilitation clinicians.A significant problem in robotic rehabilitation is how to provide assisted movement to the multiple degrees of freedom of the hand in order to restore motor coordination and function, with a system that is practical for deployment in a clinical environment. Armed with a clearer understanding of the mechanisms underlying passive dynamics and control of systems exhibiting such behavior, this project will inform the design of more effective wrist/hand rehabilitation devices that are feasible for clinical use. In addition, the proposed project will create a unique interdisciplinary environment enabling education, training, and co-advising of graduate students, undergraduate research, and significant and targeted outreach activities to underrepresented groups in science and engineering.