Robotic Gait Training and Evaluation System

描述(申请人提供)：这个仪器资助项目是开发一个综合的步态训练和评估系统，这将是一个独一无二的设施，为中风和其他运动障碍的受试者进行步态康复。该系统的一些特点是：(I)与特拉华大学正在生物工程伙伴关系R01 Grant HD 38582项下开发的新型下肢机器人外骨骼接口，在中风幸存者的培训中佩戴。这些外骨骼为躯干提供自然运动，并可以在髋关节和膝关节应用致动器输入来重新训练人类步态。(Ii)与创新的功能性电刺激算法的接口，该算法在摆动时帮助脚踝背屈，并在站立后期产生前后部地面反作用力(推出力)，目前正在开发中，资助号为1R01NR010786-01。(Iii)来自双腰带仪表式跑步机的力板数据接口--该数据与机器人外骨骼上的力传感器相结合，将允许执行关节动力学的实时计算，并优化对脚踝肌肉的刺激效果。(Iv)与来自摄像系统的高速运动捕捉数据的接口，这些数据将被校准为来自机器人外骨骼上的传感器的关节运动数据。这种校准将有助于为外骨骼控制和肌肉刺激算法提供更准确和可靠的数据。(V)如BRP Grant HD 38582、1R01NR010786-01、R01 Grant NS50880所建议的，训练前后的步态评估将包括跑步机和地面上行走的同步运动数据、力板数据、肌电数据，以及各种其他研究，包括行走过程中的上肢和小腿以及与中风受试者达成任务。 在这项提案中，维康将作为这一综合培训和评估系统的提供商，该系统将包括一个高速运动捕捉系统(8个MX-T40摄像头和软件)、一个带有测力板和手轨力传感器的仪表化双带跑步机(BERTEC)、16通道肌电系统(ZeroWire遥测系统)、实时数据采集和控制系统(DSPACE 1103板)和功能性电刺激硬件(National Instruments CompactRIO系统和Grass刺激器)。 (I)目前，该仪器只在校园内不同实验室的组件中提供，例如高速动作捕捉系统、仪表式跑步机、肌电系统、dSPACE数据采集及控制系统。因此，这些部分的数据不能在与患者相同的会议期间在一个地方收集，(Ii)特拉华大学“功能训练和康复”领域的研究资金在过去5年中几乎翻了一番。因此，现有的设施，如运动捕捉系统、仪表式跑步机、肌电系统、数据采集系统都被充分利用，几乎没有机会将这些系统集成到单个实验室中的单个系统中，然后可用于人体受试者的研究和培训。

DESCRIPTION (provided by applicant): This instrumentation grant project is to develop an integrated gait training and evaluation system, which will be one-of-a-kind facility for gait rehabilitation of stroke and other motor impaired subjects. Some features of this system are: (i) interface to novel lower extremity robotic exoskeletons being developed at the University of Delaware under Bioengineering Partnership R01 grant HD 38582, worn during training of the stroke survivors. These exoskeletons provide natural motion to the trunk and can apply actuator inputs at the hip and knee joints to retrain human gait. (ii) interface to innovative functional electric stimulation algorithms that assist in ankle dorsiflexion during swing and generation of anterior posterior ground reaction forces (push-off force) during late stance, currently under development under grant number 1R01NR010786-01. (iii) interface to force plate data from a dual belt instrumented treadmill - this data, in conjunction with force sensors on the robotic exoskeletons, will allow to perform real-time computation of joint kinetics and to optimize the effects of stimulation to the ankle muscles. (iv) interface to high speed motion capture data from a camera system, which will be calibrated to the joint motion data coming from the sensors on the robotic exoskeletons. This calibration will help provide more accurate and reliable data to the exoskeleton control and muscle stimulation algorithms. (v) The gait evaluation before and after the training will have synchronized motion data, force plate data, EMG data for both walking on treadmill and overground, as proposed in BRP grant HD 38582, 1R01NR010786-01, R01 grant NS50880, and for a variety of other studies including upper and lower extremity during walking and reaching tasks with stroke subjects. In this proposal, Vicon will serve as the provider for this integrated training and evaluation system that will consist of a high speed motion capture system (8 MX-T40 cameras with software), an instrumented dual belt treadmill with force plates and hand rail force sensors (Bertec), 16 channel EMG system (ZeroWire telemetered System), real-time data acquisition and control system (dSpace 1103 boards), and functional electrical stimulation hardware (National Instruments CompactRIO system and Grass stimulators). The justifications for this instrumentation grant are as follows: (i) Currently, the instrument is only available in components, e.g., high speed motion capture system, instrumented treadmill, EMG system, dSpace data acquisition and control system, in different laboratories on campus. As a result, data from these components can not be collected in one place in the same session with the patient, (ii) The research funding in the area of "functional training and rehabilitation" has nearly doubled in the last 5 years at the University of Delaware. As a result, the existing facilities such as motion capture system, instrumented treadmill, EMG systems, data acquisition systems are used to their full capacity and there is little or no chance to integrate these into a single system in a single laboratory which can then be used for research and training of human subjects.