Design of Mechanism and Control Strategies for Assistive Systems to Remedy the Decrease in Physical Strength of the Aged and the Disabled

许多统计数据显示，老龄化人口不断增加，而构成老龄化人口的个人的力量能力有所下降。这项研究将探索辅助性外骨骼的控制策略，以帮助弥补老年人上肢力量的丧失，使这一日益增长的群体(以及体弱者和残疾人)能够过上更自给自足、更有成效的生活。大多数人类辅助应用程序涉及不同的阶段，每个阶段都有自己独特的动态以及这些阶段之间确定/不确定的转换。作为这项研究的主题的装置将被设计成允许机械动态特性的主动改变。此外，它还将与适应每个阶段的智能控制策略相结合，以确保人机结合系统的性能和安全。这项研究的结果将改变辅助设备的行为方式。这项研究涉及机械设计、控制理论和生物工程等多个学科。多学科的性质将有助于培养研究参与者的领导技能，并对工程教育产生积极影响。本研究强调人体辅助系统设计与控制的一体化。控制问题将从混合系统的观点来表述。这项研究包括人类辅助系统动力学的分段、过渡的识别以及适合每一分段的控制结构的发展。通过这项研究，以下知识将得到转化或提高：1)人体肌肉骨骼建模、混合系统建模和典型上肢任务中可变动力学的模式(相位)识别；2)具有可变动态特性的辅助装置的设计原则，适合于感知模式变化和对模式变化的反应，包括脉冲式动态变化；以及3)综合和分析辅助系统的混合切换策略(防护)以确保用户安全的原理和方法。混合系统理论与实际辅助系统的结合将是促进我们对这种人-机器人物理交互中的动力学的理解的关键。

Many statistics show a growing aging population, as well as a decrease in the strength capabilities of individuals comprising the aging population. This research will explore control strategies for assistive exoskeletons to help remedy the loss of strength in aging individuals' upper-extremities, allowing this growing segment of the population (as well as the infirm and handicapped) to live more self-sufficient, productive lives. Most human assistive applications involve distinct phases, each with their own unique dynamics and certain/uncertain transitions between these phases. The device that is the subject of this research will be designed to allow for active changing of the mechanical dynamic characteristics. In addition, it will be integrated with an intelligent control strategy that adapts to each phase in order to ensure the performance and safety of the combined human-device system. Results from this research will transform the way assistive devices behave. This research involves several disciplines including mechanical design, control theory, and bioengineering. The multi-disciplinary nature will help develop leadership skills of the participants in the research and positively impact engineering education.Integration of design and control of human assistive systems is emphasized in this research. The control problem will be formulated from the viewpoint of a hybrid system. The research encompasses the segmentation of the dynamics of the human assistive system, the identification of transitions, and the development of control structures appropriate for each segment. With this research, the following knowledge will be transformed or advanced: 1) human musculoskeletal modeling, hybrid system modeling, and mode (phase) identification of variable dynamics in typical upper-extremity tasks; 2) design principles for assistive devices with variable dynamic characteristics suitable for sensing of and reactions to mode changes, including impulse-like dynamic changes; and 3) principles and means for synthesis and analysis of hybrid switching policies (guards) for assistive systems to ensure safety of the user. The integration of the hybrid system theory with practical assistive systems will be the key to advancing our understanding of dynamics in such physical human-robot interactions.