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和密集练习的绝佳选择，即使在中风后数年，也可以恢复上肢的功能性使用。手腕和手的康复对于功能的恢复尤其重要，因为手是与世界的主要接口。 然而，专注于手部康复的机器人设备由于过高的成本、复杂性或有限的功能而受到限制。一个设计和控制策略，这样的设备，弥合这一差距是至关重要的。研究工作的目标是分析被动动力学的属性和作用，由关节刚度和阻尼定义，在人类的手和手腕在抓取和操纵，然后模仿这样的属性在腕-手外骨骼中风康复。该项目最终将与康复医生合作进行设备测试。机器人康复中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，并具有可在临床环境中实际部署的系统。 通过对被动动力学和表现出这种行为的系统控制机制的更清晰的理解，该项目将为临床使用的更有效的腕/手康复设备的设计提供信息。此外，拟议的项目将创造一个独特的跨学科环境，使教育，培训和研究生，本科生研究的共同建议，以及重大和有针对性的外联活动，以科学和工程的代表性不足的群体。

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.