SBIR Phase II: Force And Impedance-Based Exoskeleton Robots For Seamless Assistance And Neurologically Sound Rehabilitation

The broader societal impact/commercial potential of this project centers on improving rehabilitation outcomes for individuals suffering from motor dysfunction due to stroke, spinal cord injury, and other conditions. In the US alone, there are 600,000 new stroke patients each year who rely on conventional one-on-one therapies for recovery. Due to cost and labor limitations they do not receive consistent, frequent, and intensive training needed for full recovery and optimal quality of life. As a result, stroke care guidelines recommend robotic rehabilitation in all care settings. Providing robotic rehabilitation using the proposed exoskeleton robots is a compelling solution for hospitals, rehabilitation centers, and senior living communities. In addition to providing frequent and intensive therapy, the devices can accurately measure patient progress and performance for personalized care. The exoskeletons are also a powerful research tool into effective rehabilitation methods and have the potential to transform the manufacturing sector by providing a solution for industrial processes that are too complex for full automation and too physically demanding for humans. The proposed exoskeleton devices reduce the risk of injury from accidents and overexertion for individuals performing repetitive, high-stress tasks. Additional results include increased productivity and decreased absenteeism and turn-over. This Small Business Innovation Research (SBIR) Phase II project advances the development of exoskeleton robots targeted at rehabilitation. A substantial portion of the US population requires intensive rehabilitation services for neuromuscular impairment. Robotic rehabilitation has attracted attention due to the potential for better patient outcomes. Current robotic solutions lack the anatomical mobility and compliant dynamic behavior to produce neurologically-sound therapeutic behaviors. The proposed project addresses these deficits and will result in exoskeleton robots capable of essential advanced rehabilitation behaviors. During the Phase I project, a high-performance, force-controlled actuator was developed and will be the core component enabling the desired behavior. In this project, the physical structures and control algorithms of the exoskeletons will be designed and built with a focus on dynamic transparency and kinematic compatibility with the human body to capitalize on the capabilities of the actuator. Additionally, the control software will use feedback loops and a visually interactive environment with performance metrics to keep patients engaged. This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.