NRI: Novel platform for rapid exploration of robotic ankle exoskeleton control st

描述(申请人提供)：这个项目的目标是比较不同的技术，以帮助个人与中风相关的行动能力障碍使用机器人踝关节矫形器。几种有前景的辅助技术已经被开发出来用于机器人假肢和康复平台。然而，其中许多还没有被应用于动力矫形器或外骨骼，很少被应用于脚踝关节，尽管它在运动中很重要。这些技术的有效性还没有得到一致的测试，而且这些技术还没有针对中风患者进行优化，也没有进行直接的相互比较。这项拟议的研究通过直接比较由多功能机器人平台提供的不同辅助技术的生理反应来满足这些需求。提出了一套标准化的量化绩效指标，包括工作量、首选速度和稳定性的衡量标准。脚踝外骨骼仿真器是由研究人员先前开发的，由于其独特的能力在单个机器人中表达了广泛的机器人功能，因此建议使用 站台。每一项有前景的技术都将首先在模拟器的中试中进行编程和验证。然后将对每种辅助技术进行多维参数研究，首先是没有神经损伤的受试者，然后是中风后偏瘫的受试者。结果将被用来确定每种方法的最佳参数。最后，将使用最优参数进行跨技术比较。这些测试有望为机器人踝足矫形器的设计和处方提供科学基础，这些矫形器可以为数百万中风患者管理症状。结果将为改进的矫形器设计提供依据，并测试既有效又低成本的设计的可行性。总而言之，这些结果有望提供证据基础，使中风后护理更有效、更便宜，并可由更少的临床医生管理，满足我们老龄化人口的需求，并有可能减少治疗差异。

DESCRIPTION (provided by applicant): The objective of this project is to compare different techniques for assisting individuals with stroke-related mobility impairments using robotic ankle orthoses. Several promising assistance techniques have been developed for robotic prostheses and rehabilitation platforms. Many of these, however, have not yet been applied to powered orthoses or exoskeletons, and few have been applied at the ankle joint, despite its importance in locomotion. The efficacy of these techniques has not been tested consistently, and techniques have not been optimized for individuals with stroke nor directly compared against each other. The proposed study addresses these needs by directly comparing physiological responses to different assistance techniques provided by a versatile robotic platform. A standardized set of quantitative performance metrics are proposed, including measures of effort, preferred speed, and stability. An ankle exoskeleton emulator, previously developed by the investigators, is proposed for use due to its unique ability to express a wide range of robotic functions in a single platform. Each promising technique will first be programmed and verified in pilot tests with the emulator. Multi-dimensional parameter studies will then be performed for each assistance technique, first on subjects without neurological impairment and then on subjects with hemiparesis following stroke. Results will be used to identify optimal parameters for each approach. Finally, an across-technique comparison will be performed using optimal parameters. These tests are expected to provide a scientific foundation for the design and prescription of robotic ankle-foot orthoses that manage symptoms for millions of individuals with stroke. Results will inform improved orthosis designs and test feasibility of designs that are both effective and low-cost. Together, these results are expected to provide the evidence base to make post-stroke care more effective, less expensive, and manageable by fewer clinical practitioners, addressing the needs of our aging population and potentially leading to reduced disparities in treatment.