Motion Support for Tremor Suppression by Frequency Resolved Impedance Control

Tomoe Kunii, Toshiyuki Murakami

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
出版社IEEE Computer Society
ページ5407-5412
ページ数6
ISBN(電子版)9781728148786
DOI
出版ステータスPublished - 2019 10
イベント45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal
継続期間: 2019 10 142019 10 17

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2019-October

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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