Intelligent and Adaptive Control Applied to Powered Walkers

项目总结/摘要 巴伦联合公司(BAI)，与弗吉尼亚大学（UVA）的南方矫形部合作- Gerry运动分析和运动性能（MAMP）实验室，建议开发一种动力步行者， 一个先进的，智能的，自适应的控制策略，为个人与神经肌肉行走残疾。 控制策略的目的是提供动力辅助，以最佳地降低代谢成本， 走路拟议努力的首要目标是减少步行的工作量， 步行时间更长，提供关键锻炼，持续肌肉发展并提高生活质量。 该步行者将配备动力轮驱动的车载微处理器，房子的控制 算法控制器将快速调整命令输入，以考虑用户步态的广泛可变性 特征和痉挛。将不需要手动控制步行者，因为步行者将自动地 关注并支持用户。设计的目标是，它相当于一个虚拟的照顾者，或物理 治疗师走在旁边，轻轻地提供平衡和运动的支持，在american。 第一阶段的成就：第一阶段的主要目标已经成功实现，包括：（1） 仪器化无动力步行者和原型动力步行者的构造;（2） 复杂的、集成的人类用户/步行者生物力学模型;（3）几个候选控制AP的设计， （4）完成动力步行者的初步实验室试验。第一阶段的调查结果如下： 使用动力步行者，其中包括较少的外部工作，非常强烈的积极情绪表达 试验参与者及其家庭成员，以及统计学显著降低平均心率使用 动力步行者，清楚地验证了其潜在的好处和接受的最终用户。 第二阶段的目标：推进控制策略：虽然第一阶段的控制器工作得很好，改进， 鲁棒性能可以通过更先进的、智能的和自适应的非线性控制策略来获得。 推进生物力学建模：UVA的MAMP实验室将进一步成熟他们的生物力学模型， els，增加我们的知识和理解的步态特征，以帮助改善控制策略。 构建用于实验室试验的改进的步行器：将在儿童和成人中构建一套新的步行器。 成年人的尺寸，改进的机械化和无线传输步态数据，用于试验后分析。 开展实验室试验：将在更大的受试者人群中开展扩展实验室试验 范围从儿童到老年人，并跨越各种行走障碍。 设计/开发原型商用步行者：原型商用步行者的建造将按照 在第二阶段形成。商业产品将被称为SurePace步行者。其目的是为COM- 通过推进机械化，解决监管审批和清关流程， 并与现有的步行者制造商协商后续合作。

Project Summary/Abstract Barron Associates, Inc. (BAI), teamed with the University of Virginia’s (UVA’s) Department of Orthopaedic Sur- gery Motion Analysis and Motor Performance (MAMP) laboratory, proposes to develop a powered walker with an advanced, intelligent, and adaptive control strategy for individuals with neuromuscular walking disabilities. The aim of the control strategy is to provide powered assistance that optimally reduces the metabolic cost of walking. The overarching goal of the proposed effort is to reduce the workload of walking, keeping this population walking longer, providing critical exercise, continued muscle development, and improved quality of life. The walker will be equipped with powered wheels driven by an onboard microprocessor that houses the control algorithms. The controller will rapidly adjust the commanded inputs to account for the wide variability in user gait characteristics and spasticity. There will be no need for manual control of the walker, as the walker will automat- ically follow and support the user. The goal of the design is that it be equivalent to a virtual caregiver, or physical therapist walking alongside, gently providing balance and locomotive support during ambulation. Phase I Accomplishments: The major goals for Phase I were successfully accomplished, and include: (1) construction of both an instrumented unpowered walker and a prototype powered walker; (2) development of sophisticated, integrated human user/walker biomechanical models; (3) design of several candidate control ap- proaches; and (4) completion of preliminary laboratory trials of the powered walker. The Phase I findings regard- ing the powered walker, which included less required external work, very strong positive sentiment expressed by trial participants and their family members, and statistically significant lower average heart rates using the powered walker, clearly validate its potential benefits and acceptance by end users. Phase II Aims: Advance the control strategies: Although the Phase I controllers worked very well, improved, robust performance can be attained with more advanced, intelligent, and adaptive nonlinear control strategies. Advance the biomechanical modeling: UVA’s MAMP laboratory will further mature their biomechanical mod- els, increasing our knowledge and understanding of gait characteristics to aid in improving the control strategies. Construct improved walkers for laboratory trials: A set of new walkers will be constructed in both child and adult sizes, with improved mechanization and wireless transfer of gait data for post-trial analysis. Conduct laboratory trials: Expanded laboratory trials will be conducted with a larger population of subjects ranging from children to seniors, and spanning a variety of walking disabilities. Design/develop prototype commercial walker: Construction of the prototype commercial walker will be per- formed in Phase II. The commercial product will be called the SurePace Walker. The aim is to prepare for com- mercialization by advancing the mechanization, addressing the regulatory approval and clearance processes, and negotiating with existing walker manufacturers for follow-on teaming.