Intelligent and Adaptive Control Applied to Powered Walkers

Information

  • Research Project
  • 9845552
  • ApplicationId
    9845552
  • Core Project Number
    R44HD082863
  • Full Project Number
    2R44HD082863-02
  • Serial Number
    082863
  • FOA Number
    PA-18-573
  • Sub Project Id
  • Project Start Date
    9/1/2015 - 9 years ago
  • Project End Date
    8/31/2021 - 3 years ago
  • Program Officer Name
    MARDEN, SUSAN F
  • Budget Start Date
    9/12/2019 - 5 years ago
  • Budget End Date
    8/31/2020 - 4 years ago
  • Fiscal Year
    2019
  • Support Year
    02
  • Suffix
  • Award Notice Date
    9/11/2019 - 5 years ago
Organizations

Intelligent and Adaptive Control Applied to Powered Walkers

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.

IC Name
EUNICE KENNEDY SHRIVER NATIONAL INSTITUTE OF CHILD HEALTH & HUMAN DEVELOPMENT
  • Activity
    R44
  • Administering IC
    HD
  • Application Type
    2
  • Direct Cost Amount
  • Indirect Cost Amount
  • Total Cost
    785810
  • Sub Project Total Cost
  • ARRA Funded
    False
  • CFDA Code
    865
  • Ed Inst. Type
  • Funding ICs
    NICHD:785810\
  • Funding Mechanism
    SBIR-STTR RPGs
  • Study Section
    ZRG1
  • Study Section Name
    Special Emphasis Panel
  • Organization Name
    BARRON ASSOCIATES, INC.
  • Organization Department
  • Organization DUNS
    120839477
  • Organization City
    CHARLOTTESVILLE
  • Organization State
    VA
  • Organization Country
    UNITED STATES
  • Organization Zip Code
    229012496
  • Organization District
    UNITED STATES