NRI: Small: Rapid exploration of robotic ankle exoskeleton control strategies

本项目比较了不同的技术，以协助个人与中风有关的行动障碍，使用机器人踝矫形器。已经为机器人假肢和康复平台开发了几种有前途的辅助技术，这些技术已经扩展到外骨骼-穿戴在踝关节处，并适用于中风患者。踝关节外骨骼测试床用于模拟每种辅助技术，允许在同一平台内比较效率和有效性。每种技术首先编程和验证中的试点测试与此模拟器，然后进行多维参数研究，首先对受试者没有神经功能障碍，然后对受试者中风后轻偏瘫。每种技术的结果用于确定理想的参数及其设置，这有助于跨技术比较和开发一套标准化的定量性能指标，包括工作量，首选速度和稳定性的测量。这些研究将为机器人踝足矫形器的设计和处方奠定科学基础，使数百万受损的人受益。

This project compares different techniques for assisting individuals with stroke-related mobility impairments using a robotic ankle orthosis. Several promising assistance techniques have been developed for robotic prostheses and rehabilitation platforms, which have been extended to exoskeletons - worn at the ankle joint, and adapted for individuals with stroke. An ankle exoskeleton test bed is used to emulate each assistance technique, allowing comparisons of efficiency and effectiveness within the same platform. Each technique is first programmed and verified in pilot tests with this emulator, followed by multi-dimensional parameter studies, conducted first on subjects without neurological impairment and then on subjects with hemiparesis following stroke. The results for each technique are used to identify ideal parameters and their settings, which facilitates across-technique comparisons and development of a standardized set of quantitative performance metrics, including measures of effort, preferred speed, and stability. These studies will contribute to a scientific foundation for the design and prescription of robotic ankle-foot orthoses that will benefit the millions of impaired individuals.