Research

Current Research Projects

In the robotics and Control Laboratory in the Mechanical Engineering Department at WSU, fundamental and applied research are conducted in articulated mechanisms, robotic systems, and controls with an application-driven thrusts on exoskeletons for rehabilitation and human-robot interactions. Specifically, we are working to advance the state of knowledge regarding: (1) the capture and representation of the effective workspace of a human limb for rehabilitation, (2) robot synthesis techniques to handle the multifaceted problems associated with complex human biological joint and alignment challenges; and (3) the human physiological information related to the human-robot interaction (HRI) during rehabilitation to inspire prescription and controlled interventions.

Advancing the impact of robot-based therapeutic Interventions in healthcare system

An integrated exoskeleton design strategy that permits the complex 3D motions of a human limb/joints independent of anatomical measures and landmarks. This is aimed to address the fitting and alignment issues which partly caused by simplifying the human biological joint and trying to mimic and align human-to-robot joints. Through the NSF grant (Award # 1915872), the team utilized human motion capture data and advanced kinematic synthesis techniques to design new task-based exoskeletons and joint-based exoskeletons. Prototypes and software simulations are utilized for the assessment .

Integration of EMG-based learning and adaptive Control for an Exoskeleton Assist-as-Needed Support System. We have developed an algorithm which can help to learn the patients progress through their muscle activities and determine the level of assistance needed.

rehab2

Assist-as-Needed Rehabilitation

During rehabilitation, helping patients only when it is needed will help the patients to utilize their muscles and recover faster than completely depends on the exoskeleton. In this project, we have developed subject-centered, an Assist-as-Needed (AAN) algorithm to assist the patient when it is needed. In the pilot elbow flexion-extension task, the exoskeleton is commanded to perform different actions depending on its state. If the intention of the wearer is to perform an elbow flexion (region 1), then, the exoskeleton follows the wearer through the range of motion with no assistance, similarly, the same can be done when the wearer is extending the forearm (region 3). However, if the wearers are not capable of performing the action by themselves, the exoskeleton should provide support to them through the rest of the range of motion. To determine when the wearer needs assistance, the exoskeleton was programmed to detect the time spent on the resting region (region 2). Once the exoskeleton detects that the user has spent too much time (3 seconds in this experiment, could be adjusted as needed) on the resting zone, the exoskeleton will take over the action and help to complete the task. The novelty of this approach lies on its adaptability of the regions of interest to the individuals who are wearing the exoskeleton.

AAN

A motivation is needed for an individual to adhere to rehabilitation programs/sessions. In this line, we are developing VR-based upper arm exercise games.