Error Tolerance in Wearer-Robot Systems

项目摘要 人类的运动控制系统采用各种控制机制来容忍内部或外部误差/噪声， 人类可以以非常健壮的方式保持一致的任务性能。是否相同的控制原则 可由可穿戴机器人（例如机器人假肢和外骨骼）采用，以增强穿戴者的鲁棒性。 机器人系统仍然是一个开放但部分重要的问题。这个问题的答案可以引导我们理解 处理潜在的穿戴者-机器人交互，并使先进的可穿戴机器人坚固，使用安全， 的佩戴者。我们的长期目标是实现无缝的穿戴机器人集成，用于运动增强和临床应用。 将知识和技术转化到穿戴机器人系统中，以提高运动员的生活质量 赤字具体来说，这个建议的目的是调查新的容错机制，受人类的启发， 电机控制原理，以提高动力经股动脉假体的稳健性和安全性。（1）系统地 探讨截肢-假肢系统对假肢误差的稳定性反应;（2）模拟人类如何 探索控制空间和容忍内部或外部错误的任务性能，我们将展示一个新的生物， 启发容错概念的机器人假肢的鲁棒控制。 在强有力的初步设计和研究的指导下，我们的研究目标将通过以下三个方面来实现： 具体目标：目标1）系统地确定施加假肢误差对客观测量的行走的影响 截肢-假肢系统的稳定性，目的2）系统地确定强加的假肢误差对 截肢者感知的行走稳定性，以及目标3）证明了下肢假肢控制的鲁棒性， 模仿人类的运动控制机制 目标1和目标2的目标是全面了解假体错误的后果和患者的反应。 截肢假肢系统的这些错误，这是一个现有的知识差距，阻碍了发展强大的 机器人假肢控制器通过量化和关联的稳定性措施（感知和生物力学 定义的指数），我们将映射一个流形表面，可以真正反映截肢假肢系统的反应， 假体错误在目标3中，我们建议将目标1和目标2中学到的知识与人类运动一起转化 控制理论到容错机制的动力假肢。在最低干预原则及 在目标1和目标2中获得的响应流形上，容错机制将被设计为精确地检测假体错误 这会导致感知到的不稳定性，并通过前向模型有效地纠正错误，从而反过来增强稳定性 截肢假肢系统中。该方案的成功实施，可为今后的发展提供理论依据。 可以提高截肢者使用机器人假肢的安全性的技术，提高对这些先进设备的接受程度， 提高截肢者的生活质量。

Project Summary Human's motor control system adopts various control mechanisms to tolerate internal or external error/noise, so that humans can maintain consistent task performance in an extremely robust way. Whether or not the same control principles can be employed by wearable robots (such as robotic prostheses and exoskeletons) to enhance the robustness of wearer- robot systems remains an open but paramountly important question. Answers to this question can lead us to understand the processes underlying wearer-robot interactions and make advanced wearable robots robust, safe-to-use, and acceptable by the wearers. Our long-term goal is to achieve seamless wearer-robot integration for movement augmentation and clinical translation of knowledge and technology in wearer-robot systems to improve the quality of life of individuals with motor deficits. Specifically, the objective of this proposal is to investigate novel error-tolerant mechanisms, inspired by human motor control principles, to improve the robustness and safety of powered transfemoral prostheses. By (1) systematically exploring the stability response of amputee-prosthesis system to imposed prosthesis errors and (2) mimicking how humans explore the control space and tolerate internal or external errors for task performance, we will demonstrate a new bio- inspired error-tolerant concept for robust control of robotic prostheses. Guided by strong preliminary design and study, our research objective will be accomplished by pursuing three specific aims: Aim 1) systematically determine the effects of imposed prosthesis errors on objectively measured walking stability of amputee-prosthesis systems, Aim 2) systematically determine the effects of imposed prosthesis errors on perceived walking stability in amputees, and Aim 3) demonstrate the capacity of robust lower limb prosthesis control by mimicking human motor control mechanisms. The goal of Aim 1 and Aim 2 is to comprehensively understand the consequences of prosthesis errors and the responses of amputee-prosthesis systems to these errors, which is an existing knowledge gap that hinders the development of robust robotic prosthesis controller. By quantifying and correlating the stability measures (both perceived and biomechanically defined indices), we will map a manifold surface that can truly reflect the responses of amputee-prosthesis system to prosthesis errors. In Aim 3, we propose to translate the knowledge learned in Aim 1 and 2 together with the human motor control theories into error-tolerant mechanisms for powered prostheses. Guided by Minimal Intervention Principle and the response manifold obtained in Aim 1 and 2, error-tolerant mechanisms will be designed to accurately detect prosthesis errors that lead to perceived instability and effectively correct errors via a forward model, and therefore in turn enhance the stability in amputee-prosthesis systems. The success of this proposal can provide theoretical foundations for the development of technologies that can improve amputees' safety in using robotic prostheses, enhance acceptance of these advanced devices, and improve the quality of life of amputees.