POSE: Phase I: Advancement of an open-source hardware and software ecosystem for the Open Source Bionic Leg

该项目由开放源代码生态系统（POSE）项目资助，该项目旨在利用开放源代码开发的力量，为国家和社会重要问题创造新技术解决方案。该项目的目标是为开源仿生腿系统开发一个生态系统，使研究人员能够访问一个功能齐全的标准化硬件平台。开源假肢的目的是降低研究控制机器人假肢挑战的障碍。开源腿系统使研究人员能够更容易地研究和比较不同的控制策略，而无需从头开始开发机器人腿的高昂成本。这项工作的首要目标是通过开发开放获取材料和社区互动来加速开源法案的影响。该项目的新颖之处在于专门开发机器人腿硬件、软件和开源工具，旨在广泛开放访问。为了进一步促进开源Leg的生态系统，这个项目的目标有三个：1)通过与现有和未来用户的互动，发现合适的生态系统和部署机制；2)通过与其他开源生态系统（特别是管理开源硬件的组织）的讨论，构建和完善开源基础设施和治理工具；3)通过会议和网络媒体传播有关开源Leg项目及其使用的信息。这项工作可能会通过下一代机器人假肢的进步影响残疾人的生活。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

This project is funded by the Pathways to Enable Open-Source Ecosystems (POSE) Program which seeks to harness the power of open-source development for the creation of new technology solutions to problems of national and societal importance. The objective of this project is to develop an ecosystem for the Open-Source Bionic Leg system, which gives researchers access to a fully capable and standardized hardware platform. The intent of the Open-Source Leg is to lower the barrier to studying the challenges of controlling robotic prosthetic legs. The Open-Source Leg system enables researchers to more easily study and compare different control strategies without the prohibitive cost of developing a robotic leg from scratch. The overarching goal of this work is to accelerate the impact of the Open-Source Leg through the development of open-access materials and community interaction. The project's novelties are the purpose-built development of robotic leg hardware, software, and open-source tools designed for broad, open access.To further the ecosystem for the Open-Source Leg, the aims of this project are threefold: 1) discover the appropriate ecosystem and deployment mechanisms through interaction with existing and future users; 2) build and refine the open-source infrastructure and governance tools through discussions with other open-source ecosystems, especially organizations that manage open-source hardware; and 3) disseminate information about the Open-Source Leg project and its use through conferences and web-based media. The work may impact the lives of those with disabilities through the advancement of next-generation robotic leg prostheses.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.