Adaptive Suppression of Severe Pathological Tremor by Torque Estimation Method

Taheri, Behzad; Case, David A.; Richer, Edmond

doi:10.1109/tmech.2014.2317948

Cited by 48 publications

(40 citation statements)

References 39 publications

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“…The 0-2 Hz frequency band was considered for the voluntary component [58]. It has been shown (for a position signal) that a large portion of the signal power is contained within the first two harmonics (above 94%) [26]. Therefore the 2-10 Hz frequency band, corresponding to the (1 st and 2 nd harmonics) was considered for the tremor component [13], [18], [26], [59].…”

Section: E Step Responsementioning

confidence: 99%

“…Other tremor solutions involving force feedback include a work by Ohara et al who designed a meal-assist stationary robot with an adaptive force band-stop filter [24]. Research using force data in tremor suppression applications is limited, and generally only exploits the force for the purpose of measurement and validation [25], [26]. Electromyographic (EMG) sensors have also been suggested for suppression applications and can be considered analogous to a force transducer as they provide a measure of the user's applied force.…”

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confidence: 99%

“…The passive strategy by Rocon et al was also based on impedance control [18]. A recent work by Taheri et al presented the development of a human arm simulator and proposed a torque estimation method relying on kinematic signals [26], [36]. An adaptive disturbance rejection algorithm estimated the involuntary motion torque and applied an opposite force to cancel the tremorous motion.…”

mentioning

confidence: 99%

“…Specifically, the controller presented in section II.A tracks the voluntary motion while rejecting the tremor component, resulting in tremor attenuation. Since in this line of research simulation systems are indicated and frequently employed [26], [35], [36], [40], [41] as they allow verification of the approaches prior to obtaining access to persons with tremor, this manuscript presents in section II.B a benchtop simulator that was developed specifically to validate the proposed approach. Parametric stability is demonstrated for a generic tremor suppression simulator in section II.C.…”

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confidence: 99%

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Admittance-Based Voluntary-Driven Motion With Speed-Controlled Tremor Rejection

Herrnstadt

Menon

2016

IEEE/ASME Trans. Mechatron.

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In the elderly, there have been reports of above 10% of the population being diagnosed with pathological tremor. Some patients find the conventional medical solutions, which primarily include medications and surgery, insufficient to treat their conditions. Technologies to mechanically suppress tremor have been proposed as a potential alternative. Robotic solutions for suppressing human tremor typically revolve around identifying and isolating the tremor motion component. This work proposes instead to only estimate the intentional movement and reject any disturbance that interferes with such an intended movement. By designing the control feedback such that motions other than the voluntary are rejected, the tremor component is attenuated. The controller components include an outer loop admittance feedback loop and an internal velocity feedback loop. Additionally a state feedback is utilized to improve the velocity tracking. To test the proposed approach, a benchtop Tremor Simulation Device (TSD) was developed. The TSD consists of two motors, which respectively simulate the motion of a human joint and the suppressing action of a mechanical suppression system. A parametric stability analysis of the proposed tremor-suppression strategy is presented.A motion profile recorded from a person with tremor is used as human input in the TSD to experimentally validate the proposed tremor rejection strategy. Spectral analysis results show a 99.8% tremor reduction; the power reduction related to the voluntary movement is instead negligible (0.18%). Tracking of a velocity profile results in a small RMS error (0.58 rad/s). The manuscript concludes by comparing the proposed approach to others presented in the literature.

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Section: E Step Responsementioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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confidence: 99%

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Admittance-Based Voluntary-Driven Motion With Speed-Controlled Tremor Rejection

Herrnstadt

Menon

2016

IEEE/ASME Trans. Mechatron.

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“…Nonetheless, neglecting the pressure dynamics can lead to degradation of the control effect in different working conditions. In [23]- [25], the nonlinear models were derived more comprehensively than in [22] to exactly describe the system behavior. After validating the control results, the author confirmed that the control efficiency was not maintained even for the same type of actuators.…”

Section: Introductionmentioning

confidence: 99%