SuspendedNot Applicable

Human-like Robotic Controllers for Enhanced Motor Learning

Stopped: Study pending of pending that could not be secured

United States764 participantsStarted 2021-07-13

Plain-language summary

The purpose of this study is to develop a new paradigm to understand how humans physically interact with each other at a single and at multiple joints, with multiple contact points, so as to synthesize robot controllers that can exhibit human-like behavior when interacting with humans (e.g., exoskeleton) or other co-robots. The investigators will develop models for a single joint robot (i.e. at the ankle joint) that can vary its haptic behavioral interactions at variable impedances, and replicate in a multi-joint robot (i.e. at the ankle, knee, and hip joints). The investigators will collect data from healthy participants and clinical populations to create a controller based on our models to implement in the robots. Then, the investigators will test our models via the robots to investigate the mechanisms underlying enhanced motor learning during different human-human haptic interaction behaviors (i.e. collaboration, competition, and cooperation. This study will be carried out in healthy participants, participants post-stroke, and participants with spinal cord injury (SCI).

Who can participate

Age range

18 Years – 80 Years

Sex

ALL

See this in plain English?

AI-rewrites the medical criteria so a patient or caregiver can understand them. Always confirm with the trial site.

Inclusion Criteria for Healthy Participants: * Age from 18 to 80 years * No history of a brain and/or skull lesion * Normal hearing and vision, can be corrected * Able to understand and give informed consent * No neurological disorders * Absence of pathology that could cause abnormal movements of extremities (e.g., epilepsy, stroke, marked arthritis, chronic pain, musculoskeletal injuries) * Able to understand and speak English * Height between 3 foot 6 inches (1.1 meters) and 6 foot 2 inches Inclusion Criteria for Participants Post-Stroke: * Age from 18 to 80 years * History of unilateral, supratentorial, ischemic or hemorrhage stroke greater than 6 month * Ability to walk \>10m independently on level ground, allowed to use assistive devices or bracing as needed * Self-selected walking speed is less than 0.8 meters/sec * Medically stable * No concurrent surgeries, medical treatments, participation in research or outpatient therapy * Normal hearing and vision, both can be corrected * Able to understand and give informed consent * Able to understand and speak English * Height between 3 foot 6 inches (1.1 meters) and 6 foot 2 inches Inclusion Criteria for Participants with Spinal Cord Injury: * Age from 18 to 80 years * History of incomplete SCI injury (ASIA C or D) \> 6 months prior * Ability to walk \>10 m independently on level ground, allowed to use assistive devices or bracing as needed * Self-selected walking speed is less than 0.8 meters/sec * Medically stable * No …

Questions worth asking your doctor

Bring these to your next appointment. They're a starting point for a shared conversation — not a sign you qualify or a recommendation to enrol.

1Based on my diagnosis and history, is this trial worth exploring for me — or is there a standard treatment we should try first?
2What does this trial's phase tell us about how much is already known about its safety and benefit?
3What would taking part actually involve for me — visits, tests, time, and travel?
4What are the known and possible risks or side effects I should weigh, and how would they be monitored?
5If this trial isn't the right fit, what other options or trials would you suggest I look into?

Generated to help you prepare — always confirm anything about your own eligibility and care with the study team and your doctor.

Questions for the trial coordinator

The trial coordinator is the person who runs the study day to day. These cover the practical side — logistics, costs, and what taking part would actually mean for your life. The study team confirms whether you meet the criteria; these are questions to ask, not a sign you qualify.

1What does taking part actually involve week to week — how many visits, where, and how long does each one take?
2What costs are covered by the study, and what might I have to pay for myself, including travel, parking, or time off work?
3What happens during screening, and what happens if the study team confirms I don't meet the criteria after those tests?
4Who pays for the scans, blood work, and other tests the trial requires — the study, my insurance, or me?
5How will being in the trial affect my regular care, and will my own doctor stay informed and involved?
6Can I leave the trial at any point if I change my mind, and what would happen to my care if I do?

A starting point for the conversation — always confirm anything about your own eligibility, costs, and care with the study team and your doctor.

What they're measuring

Change in lower limb motor control.

Timeframe: Motor control will be measured all 10 sessions through study completion, an average of 12 weeks.

Change in motor output from surface EMG of lower limb muscles

Timeframe: Change of motor output at baseline, midpoint of intervention after 10 training sessions with assistive robot, and endpoint after 10 additional training sessions with the other assistive robot through participant completion, an average of 5 months.

Trial details

NCT IDNCT04578665

SponsorShirley Ryan AbilityLab

Sponsor typeOTHER

Study typeINTERVENTIONAL

Primary completion2026-07-15

View on ClinicalTrials.gov More Stroke trials