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Terrain Imaging and Adaptive Control of Exoskeletons

Award Number: R44HD105512
ORGANIZATION: NATIONAL INSTITUTE OF CHILD HEALTH AND HUMAN DEVELOPMENT
OPDIV: NIH
AWARD CLASS: DISCRETIONARY
AWARD ACTIVITY TYPE: SCIENTIFIC/HEALTH RESEARCH (INCLUDES SURVEYS)
PERIOD OF PERFORMANCE START DATE: 07/15/2021
PERIOD OF PERFORMANCE END DATE: 06/30/2025

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Terrain Imaging and Adaptive Control of Exoskeletons - Project Summary/Abstract Proposed is a system to enhance the capabilities, safety, and accessibility of exoskeletons through innovative 3D imaging and adaptive control. Significance: Medical exoskeletons are an exciting and emerging technology that can be found at over 270 rehabilitation centers around the world. Clinical evidence has shown that rehabilitation with exoskeletons can improve functional balance outside of the exoskeleton in people with motor incomplete SCI and can improve walking distance and gait speed for people recovering from a stroke at discharge compared to admission. While exoskeletons are sophisticated systems that have matured significantly and demonstrated clinical utility over the years, they are still primarily restricted to ambulating in a straight-line fashion across level flooring while aided by a physical therapist. Hypothesis: Our proposal aims to provide exoskeletons with the ability to traverse uneven terrain including slopes and staircases inside and outside of clinical settings and in the presence of obstacles. The system will fuse imaging information with the suit’s kinematic information and ground contact sensing to provide the exoskeleton’s control system and actuators with the required feedback to continuously adapt its balance and gait parameters to approach ground surfaces, dynamically adjusting to slopes & steps, avoiding tripping, or notifying the user that further forward movement is unsafe or unachievable. Specific Aims: In Phase II, IDL and its collaborators will: (1) Develop production-ready terrain sensing and actuator hardware and firmware, (2) Incorporate and integration test the system with an exoskeleton control system, and (3) Perform a human study and evaluation of the system.


Issue Date FY	Funding FY	Legal Entity Name	Legal Entity Address	Legal Entity City	Legal Entity State	Legal Entity Zip Code	Legal Entity COUNTY	Legal Entity COUNTRY	Assistance Listing	Award Code	Budget Year	Action Date	Action Type	Action Amount

Issue Date FY: 2024 ( Subtotal = $0 )
2024	2022	INNOVATIVE DESIGN LABS INC	861 E HENNEPIN AVE STE 450	MINNEAPOLIS	MN	55414	HENNEPIN	USA	Child Health and Human Development Extramural Research	000	2	6/13/2024	NON-COMPETING CONTINUATION	$0
														Subtotal = $0

Issue Date FY: 2022 ( Subtotal = $882,711 )
2022	2022	INNOVATIVE DESIGN LABS INC.	861 E HENNEPIN AVE STE 450	MINNEAPOLIS	MN	55414	HENNEPIN	USA	Child Health and Human Development Extramural Research	001	2	6/24/2022	NON-COMPETING CONTINUATION	$882,711
2022	2021	INNOVATIVE DESIGN LABS INC.	861 E HENNEPIN AVE STE 450	MINNEAPOLIS	MN	55414	HENNEPIN	USA	Child Health and Human Development Extramural Research	000	1	2/8/2022	NEW	$0
														Subtotal = $882,711

Issue Date FY: 2021 ( Subtotal = $877,203 )
2021	2021	INNOVATIVE DESIGN LABS INC.	861 E HENNEPIN AVE STE 450	MINNEAPOLIS	MN	55414	HENNEPIN	USA	Child Health and Human Development Extramural Research	000	1	7/22/2021	NEW	$877,203
														Subtotal = $877,203

Grand Total All Awards = $1,759,914

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Terrain Imaging and Adaptive Control of Exoskeletons

Award Number: R44HD105512

ORGANIZATION: NATIONAL INSTITUTE OF CHILD HEALTH AND HUMAN DEVELOPMENT

OPDIV: NIH

AWARD CLASS: DISCRETIONARY

AWARD ACTIVITY TYPE: SCIENTIFIC/HEALTH RESEARCH (INCLUDES SURVEYS)

PERIOD OF PERFORMANCE START DATE: 07/15/2021

PERIOD OF PERFORMANCE END DATE: 06/30/2025

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