Motion Support for Tremor Suppression by Frequency Resolved Impedance Control

Tomoe Kunii, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

There are many patients with Parkinson's disease in Japan. The one of the initial symptom is tremor, which is involuntary oscillations of the body. Medications and deep brain stimulation are utilized as treatments for the tremor. However, side effects and the invasiveness to the brain are regarded as problems. Hence, the demand for the support equipment is increasing in order to suppress the tremor from outside the body. There are tremor suppression robots attached to hands and upper limbs. In other words, most researches focus on the tremor of arms. Therefore, this paper proposes the tremor suppression robot for a finger. Since the frequency of the tremor and the human intended movement are different from each other, the tremor suppression control is based on the frequency resolution. This proposed control achieves the following the human motions. The validity of the proposed method is confirmed by the simulation and experiment.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
Pages5407-5412
Number of pages6
ISBN (Electronic)9781728148786
DOIs
Publication statusPublished - 2019 Oct
Event45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal
Duration: 2019 Oct 142019 Oct 17

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2019-October

Conference

Conference45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019
CountryPortugal
CityLisbon
Period19/10/1419/10/17

Keywords

  • frequency resolution
  • impedance control
  • Motion support
  • tremor suppression

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kunii, T., & Murakami, T. (2019). Motion Support for Tremor Suppression by Frequency Resolved Impedance Control. In Proceedings: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society (pp. 5407-5412). [8926980] (IECON Proceedings (Industrial Electronics Conference); Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/IECON.2019.8926980