An autonomously controlled ankle exoskeleton for gait rehabilitation

该项目解决了步态康复中的一个关键问题;预测不稳定的运动和设计干预措施以增强肢体关节功能。该项目将开发一种自主踝足辅助设备，在检测到高风险足部轨迹时主动增加离地间隙。使用可穿戴传感器数据，机器学习算法将预测高风险步态，并计算致动器引起的踝关节扭矩，以保持安全的脚-地面间隙。一个可穿戴的自主关节驱动系统将有助于显着的康复范围内的步态受损的人群。该项目的科学和技术创新将为辅助技术的未来发展提供机会。

This project addresses a critical problem in gait rehabilitation; predicting unstable locomotion and designing interventions to augment limb-joint function. The project will develop an autonomous ankle-foot assistive device to actively increase ground clearance when high-risk foot trajectory is detected. Using wearable sensor data, machine learning algorithms will predict high-risk gait and compute an actuator-induced ankle torque to maintain safe foot-ground clearance. A wearable autonomous joint-actuation system will contribute significantly to rehabilitation across a range of gait-impaired populations. The project's scientific and technological innovations will provide the opportunity for future developments in assistive technologies.