CPS: Medium: Collaborative Research: User and Environment Interactive Planning and Control of Artificial Lower Limbs for Resilient Locomotion

今天，即使是正常的运动是很难掌握的人谁依赖假肢或 外骨骼的移动和康复，并有一个明确的理解，在可穿戴机器人 社区认为，将需要比今天常见的更具交互性的假肢控制， 克服这个限制。这个项目包含了这样一个交互式控件。一种网络物理方法， 控制是追求的，其中假肢利用丰富的感觉信息， 以一种改进的方式来推理并调整其行为以适应用户和环境 运动稳定性、鲁棒性和多功能性。拟议研究的具体目标是 为假肢建立这种网络物理方法，以开发多感官和高动态 原型外骨骼和假肢，使其传感器丰富和数据密集型的实施，以及 以评估在人类受试者实验中得到的控制器益处。该项目结合了两个 将他们在腿部动力学和控制、状态估计 和学习，传感器融合，机电一体化设计，实时控制和步态分析，以实现这些 目标。 这项研究的长期目标是改善依赖人工合成的人的生活质量。 活动和步态康复的肢体，目标人群从下肢截肢者到 中风和脊髓损伤的患者到需要助行器的老年人。该项目直接涉及到 NIBIB的使命是通过发展和加速生物医学技术来改善健康状况。在 特别是，其重点是下一代人类机器人系统，以改善步态援助， 康复，该项目解决了NIBIB的发展创新生物医学的战略目标， 将工程与物理和生命科学相结合以解决复杂问题的技术， 增进健康。

Today, even normal locomotion is difficult to master for people who depend on prostheses or exoskeletons for mobility and rehabilitation, and there is a clear understanding in the wearable robotics community that a more interactive control of artificial limbs will be required than is common today to overcome this limitation. This project embraces such an interactive control. A cyber-physical approach to control is pursued, in which the artificial limb takes advantage of rich sensory information to continuously reason about and adapt its behavior to both the user and the environment in a way that improves locomotion stability, robustness and versatility. The specific aims of the proposed research are to establish this cyber-physical approach for artificial limbs, to develop multi-sensory and highly dynamic prototype exoskeletons and prostheses that enable its sensor-rich and data-intensive implementation, and to evaluate the resulting controller benefits in human subject experiments. The project combines two teams who will integrate their complementary expertise in legged dynamics and control, state estimation and learning, sensor fusion, mechatronic design, real-time control, and gait analysis to achieve these aims. The long-term goal of this research is to improve the quality of life for people who depend on artificial limbs for mobility and gait rehabilitation, with target populations ranging from lower limb amputees to stroke and spinal cord injured patients to older adults requiring mobility aids. The project directly relates to the NIBIB mission of improving health by development and acceleration of biomedical technologies. In particular, with its focus on next generation human-robot systems for improving gait assistance and rehabilitation, the project addresses NIBIB's strategic goal of developing innovative biomedical technologies that integrate engineering with the physical and life sciences to solve complex problems and improve health.