Design of a Passive Wearable Device Using an Optimized Mechanical Metamaterial for Mirror Therapy

Kulkarni, Suhas Raghavendra; Accoto, Dino; Campolo, Domenico

doi:10.1109/icorr58425.2023.10304724

2023 International Conference on Rehabilitation Robotics (ICORR) 2023

DOI: 10.1109/icorr58425.2023.10304724

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Design of a Passive Wearable Device Using an Optimized Mechanical Metamaterial for Mirror Therapy

Suhas Raghavendra Kulkarni,

Dino Accoto,

Domenico Campolo

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2024

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Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial

Raghavendra Kulkarni,

Accoto,

Campolo

2024

Wearable Technol.

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Pathological tremors can often be debilitating to activities of daily living and significantly affect the quality of life. Such tremulous movements are commonly observed in wrist flexion-extension (FE). To suppress this tremor we present a wearable robot (WR) with a customized mechanical metamaterial (MM) as the physical human-robot interface (pHRI). The MM is optimized to conform to the user’s wrist posture and follow the hand’s Cartesian trajectory. This is done to minimize the shear between the pHRI and the user’s skin and consequently improve wearability. This WR is then used to effect a viscous tremor suppression using the velocity of the user’s wrist FE. We present a model for the interaction between the WR and the user with which we develop the viscous damping approach for tremor. This is then evaluated in simulation and using a dedicated test bed. This tremor suppression approach demonstrates an attenuation of 20–30 dB at various tremulous frequencies resulting in significantly lower tremor amplitudes due to the viscous damping.

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Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial

Raghavendra Kulkarni,

Accoto,

Campolo

2024

Wearable Technol.

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Design of a Passive Wearable Device Using an Optimized Mechanical Metamaterial for Mirror Therapy

Cited by 1 publication

References 10 publications

Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial

Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial

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