Tremor suppression through impedance control.
This paper presents a method for designing tremor suppression systems that achieve a specified reduction in pathological tremor power through controlling the impedance of the human-machine interface. Position, rate, and acceleration feedback are examined and two techniques for the selection of feedback coefficients are discussed. Both techniques seek a desired closed-loop human-machine frequency response and require the development of open-loop human-machine models through system identification. The design techniques were used to develop a tremor suppression system that was subsequently evaluated using human subjects. It is concluded that nonadaptive tremor suppression systems that utilize impedance control to achieve a specified reduction in tremor power can be successfully designed when accurate open-loop human-machine models are available.
Pledgie
S
S
Biomechanics and Movement Science Program, University of Delaware, Newark 19716, USA.
Barner
K E
KE
Agrawal
S K
SK
Rahman
T
T
D000054:Acceleration; D000293:Adolescent; D000328:Adult; D000368:Aged; D000369:Aged, 80 and over; D000465:Algorithms; D003198:Computer Simulation; D017097:Electric Impedance; D004599:Electric Stimulation Therapy / Q000295:instrumentation / Q000379:methods*; D005246:Feedback / Q000502:physiology*; D005583:Fourier Analysis; D006801:Humans; D016018:Least-Squares Analysis; D008875:Middle Aged; D011597:Psychomotor Performance / Q000502:physiology*; D015203:Reproducibility of Results; D012815:Signal Processing, Computer-Assisted; D014202:Tremor / Q000209:etiology / Q000503:physiopathology* / Q000517:prevention & control*; D014584:User-Computer Interface