Human-like Robotic Controllers for Enhanced Motor Learning

Trial details

Who runs it

Shirley Ryan AbilityLab

Trial code

NCT04578665

Record updated

14 July 2026

Original description

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).Read full original descriptionShow less

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).

Inclusion: 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; 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; 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 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.

Exclusion: Prior neurosurgical procedures; Botox (botulinum toxin) injection to lower limbs within the prior 3 months, or planned injection during study period; Botox (botulinum toxin) injection to lower limbs within the prior 3 months, or planned injection during study period; Multiple sclerosis, Parkinson's disease or other neurodegenerative disorder, severe dementia, brain injury, spinal cord injury, or cancer of the central nervous system; History of significant head trauma (i.e., extended loss of consciousness, neurological sequelae); Significant other disease (heart disease, malignant tumors, mental disorders); History of sustained non-prescribed drug use or substance abuse (exception: current nicotine use is allowed); History of sustained non-prescribed drug use or substance abuse (exception: current nicotine use is allowed); Co-existence of other neurological diseases (e.g., Parkinson's disease or other neurodegenerative disorder, severe dementia, brain injury, spinal cord injury, multiple sclerosis, or cancer of the central nervous system); Medical (cardiac, renal, hepatic, oncological) or psychiatric disease that would interfere with study procedures; History of sustained non-prescribed drug use or substance abuse (exception: current nicotine use is allowed); Co-existence of other neurological diseases (e.g., Parkinson's disease or other neurodegenerative disorder, severe dementia, brain injury, spinal cord injury, multiple sclerosis, or cancer of the central nervous system); History of peripheral nerve injury; Medical (cardiac, renal, hepatic, oncological) or psychiatric disease that would interfere with study procedures; Weight over 220 lbs; Pregnancy (ruled out by pregnancy questionnaire); Current presence of wounds or pressure ulcers; Known structural brain lesion; History or peripheral nerve injury; Inability or unwillingness to perform study-required activities; Prisoners; Unable to meet SRAlab "MRI Pre-Examination Screening Form" requirements; Weight over 220 lbs; Pregnancy (ruled out by pregnancy test); Current presence of wounds or pressure ulcers; Reduced cognitive function; Severe aphasia; Prisoners; History or peripheral nerve injury; Severe hip, knee, or ankle arthritis; Recent fracture or osteoporosis; Significant spasticity in the lower limbs (≥3 on Modified Ashworth Scale); Inability or unwillingness to perform study-required activities; Unable to meet SRAlab "MRI Pre-Examination Screening Form" requirements; Weight over 220 lbs; Pregnancy (ruled out by pregnancy test); Current presence of wounds or pressure ulcers; Prisoners; Severe hip, knee, or ankle arthritis; Recent fracture or osteoporosis; Significant spasticity in the lower limbs ( ≥3 on Modified Ashworth Scale); Inability or unwillingness to perform study-required activities; Unable to meet SRAlab "MRI Pre-Examination Screening Form" requirements.

ClinicalTrials.gov NCT04578665