Bimanual Robotic Rehabilitation System with Variable Interaction Modes

 描述(由申请人提供)：这个小型企业创新研究(SBIR)第二阶段项目提出了一个机器人系统，用于中风幸存者的手臂和手的康复。该系统建立在DARPA计划下开发的硬件和NIH第一阶段项目下开发的软件之上。现有的硬件，称为Proicio(Tm)，目前正在第一阶段用于开发和测试BiArm(Tm)，这是一个由两个Proicio机械臂组成的系统，可以进行双手康复。第二阶段将专注于Teneo(Tm)的设计和开发，这是一种为Proicio设计的用户附件，它将使用户能够训练手关闭和手打开的动作，同时移动他们的手臂来接触和抓住真实的物体。这一新颖的系统将得到软件架构的支持，该软件架构能够开发丰富的视觉、触觉和基于物理的环境，用于有意义和引人入胜的治疗游戏，这些游戏可以根据患者的能力和需求量身定做。拟议的SBIR第二阶段活动分为三个目标。第一个目标是设计和集成一种负担得起的用于手康复的机器人末端执行器(Teneo)。新的模块将安装在Proicio机器人上，并将帮助患者执行开手/闭合动作，以支持日常生活活动(例如，伸手和抓住物体)。第二个目标是 开发软件界面和机器人控制策略，以促进新的康复策略的开发，并使治疗师能够采用为每个患者量身定制的活动。这项工作将包括开发强大的软件模块，包括参与与Proicio/Teneo控制系统协调工作的康复活动。第三个人工智能是在国内两个领先的康复研究机构进行双站点可用性研究。有两个长期的商业目标：1)开发一个机器人系统，研究人员可以使用它来快速创新和开发新的数据驱动的手臂和手康复策略，以及2)使治疗师能够根据患者的个体定制康复活动，同时跟踪进展并保持患者的参与度。

 DESCRIPTION (provided by applicant): This Small Business Innovation Research (SBIR) Phase-II project proposes a robotic system for rehabilitation of the arm and hand of stroke survivors. The system builds on hardware developed under a DARPA program and software being developed under the NIH Phase-I project. The existing hardware, called Proficio(tm), is presently being used in Phase I to develop and test BiArm(tm), a system consisting of two Proficio robot arms that enable bimanual rehabilitation. Phase II will focus on the design and development of Teneo(tm), a user- attachment for Proficio that will enable users to train hand-closing and hand-opening motions while simultaneously moving their arm to reach and grasp real objects. This novel system will be supported by a software architecture enabling development of rich visual, haptic, and physics-based environments for meaningful and engaging therapeutic games that can be tailored to patients' abilities and needs. The proposed SBIR Phase-II activities are divided into 3 aims. The first aim is to design and integrate an affordable robot end-effector (Teneo) for hand-rehabilitation. The new module will attach to the Proficio robot and will assist patients in performing hand-opening/closing motions to support activities of daily living (reaching for and grasping an object, for example). The second aim is to develop software interfaces and robot-control strategies that facilitate development of new rehabilitation strategies and empower therapists to employ activities tailored to each patient. This work will include development of powerful software modules including engaging rehabilitation activities that work in concert with the Proficio/Teneo control system. The third ai is to perform dual-site usability studies at two of the leading rehabilitation research facilities n the country. There are two long-term commercial goals: 1) develop a robotic system that researchers can use to rapidly innovate and develop new data-driven arm-and-hand rehabilitation strategies, and 2) empower therapists to tailor rehabilitation activities to individal patients while tracking progress and keeping patients engaged.