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

描述（由申请人提供）：本项目的目的是比较使用机器人踝关节矫形器辅助中风相关活动障碍患者的不同技术。一些有前途的援助技术已经开发的机器人假肢和康复平台。然而，其中许多尚未应用于动力矫形器或外骨骼，并且很少应用于踝关节，尽管其在运动中的重要性。这些技术的有效性尚未得到一致的测试，技术尚未针对中风患者进行优化，也没有直接相互比较。该研究通过直接比较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定量性能指标，包括努力的措施，首选的速度和稳定性。踝关节外骨骼仿真器，以前开发的研究人员，提出使用，由于其独特的能力，表达了广泛的机器人功能，在一个单一的 平台每个有前途的技术将首先编程和验证的试点测试与仿真器。然后将对每种辅助技术进行多维参数研究，首先对无神经功能缺损的受试者进行研究，然后对卒中后轻偏瘫的受试者进行研究。结果将用于确定每种方法的最佳参数。最后，将使用最佳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，这些矫形器可为数百万中风患者提供症状管理。研究结果将为改进矫形器设计提供信息，并测试有效和低成本设计的可行性。总之，这些结果有望提供证据基础，使中风后护理更有效，更便宜，更少的临床医生管理，解决我们老龄化人口的需求，并可能导致减少治疗的差异。

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.