Neuromorphic Control System for Powered Limb Splints

AdveNsys, Inc. will join with Arizona State University to develop a neuromorphic analog system to control an actuated, lightweight, powered ankle-foot orthosis. The neuromorphically actuated orthosis will provide mobility in the battlefield for soldiers with lower-leg wounds or fractures to enable them to be evacuated with minimal medical support. This effort builds upon our expertise in modeling and design of neuromorphic controllers, design of analog hardware, design of robotic variable compliant actuators, and assessment of locomotor function and assistive devices in human subjects. The biologically-inspired controller is based upon our published pattern generating analog circuit design that reproduces physiological behavior by automatically entraining orthosis actuation to the locomotor rhythm and by resetting the controller rhythm in response to external perturbations. A variable compliant actuator to power the orthosis mimics the properties of muscles by cyclically storing/releasing energy and actively modulating compliance through the gait cycle. Human subjects testing will be performed in our rehabilitation motor control laboratory to assess the functioning of the neuromorphic control system and the actuated ankle foot orthosis. The successful demonstration of neuromorphic control of an actuated ankle-foot orthosis will form the foundation for future development of powered orthoses for civilian and military applications.