EFRI-M3C: Partnered Rehabilitative Movement: Cooperative Human-robot Interactions for Motor Assistance, Learning, and Communication

Emory University, Atlanta GA

Investigators

Abstract

Our vision is to develop caregiver robots that interact fluidly and flexibly with humans during functional motor activities, while providing motor assistance, enhancement, and communication to facilitate motor learning. However, we currently lack theories to understand how rehabilitation and movement therapists provide timely and appropriate physical feedback and assistance to improve mobility in individuals with motor impairments. To develop devices that could accompany an individual as both assistant and movement therapist, our goal is to study human motor coordination during cooperative physical interactions with a humanoid assistive robot. We will use rehabilitative partner dance as a paradigm to examine a sensory-motor theory of cooperative physical interactions relevant to walking and other functional motor activities. We will use a "partnered box step", a constrained and defined pattern of weight shifts and directional changes, as a paradigm for a cooperative physical interaction with welldefined motor goals. Objectives: To 1) experimentally verify a hierarchical theory of human sensory-motor control and learning and 2) develop predictive models of whole-body human movement for cooperative physical interactions with machines. Over four years, we will test our models by demonstrating the successful participation of the robot in a box step as leader or follower and adapt its movements to the motor skill level of a human partner. Intellectual Merit: Our work will provide transformative experimental, theoretical, and practical interdisciplinary frameworks that will forge new paths toward autonomous cooperative robots with physical intelligence to enhance, assist, and improve motor skills in humans with varying motor capabilities. These advances will aid prosthetic and robotic design and may advance our understanding of the brain. Broader Impacts: The expected project outcomes would have long-term impact on the quality of life of millions of Americans by improving fitness, motor skills, and social engagement. Applications include healthcare devices or sports robots that entertain and improve fitness. We will provide seminars on mobility-related issues and rehabilitative dance instruction to older adult living communities and populations with motor impairments. The broad appeal and social nature of this work will likely garner media publicity that will increase public interest in science and technology.