An integrated wearable robot for tremor suppression with context aware sensing (original) (raw)
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Rehabilitation Robotics: a Wearable ExoSkeleton for Tremor Assessment and Suppression
2005
There is a need for wearable powered upper limb exoskeletons able to apply forces to the upper limb for use by people with disabilities and/or limb weakness or injury. The robotic exoskeleton called WOTAS (Wearable Orthosis for Tremor Assessment and Suppression) presented in this paper will provide a means of testing non-grounded control strategies in order to help these people. For instance, biomechanical loading, in particular, viscous loading of the upper limb has been proposed in the literature as a means for suppressing pathologic tremor. This article describes in detail the general concept for WOTAS, outlining the special features of the design and selection of system components.
A soft wearable robot for tremor assessment and suppression
2011 IEEE International Conference on Robotics and Automation, 2011
Tremor constitutes the most common motor disorder, and poses a functional problem to a large number of patients. Despite of the considerable experience in tremor management, current treatment based on drugs or surgery does not attain an effective attenuation in 25 % of patients, motivating the need for research in new therapeutic alternatives. In this context, this paper presents the concept design, development, and preliminary validation of a soft wearable robot for tremor assessment and suppression. The TREMOR neurorobot comprises a Brain Neural Computer Interface that monitors the whole neuromusculoskeletal system, aiming at characterizing both voluntary movement and tremor, and a Functional Electrical Stimulation system that compensates for tremulous movements without impeding the user perform functional tasks. First results demonstrate the performance of the TREMOR neurorobot as a novel means of assessing and attenuating pathological tremors.
Evaluation of a wearable orthosis and an associated algorithm for tremor suppression
Physiological Measurement, 2007
We describe a wearable orthosis and an associated algorithm for the simultaneous assessment and treatment of essential tremor, one of the most common movement disorders in humans involving an overactivity of the olivocerebellar pathways. A motor providing effective viscosity is fixed on a wearable orthosis in the upper limbs. The motor is controlled by a personal computer with software processing in real time the position and rate of rotation of the joint detected by a chip gyroscope. The orthosis can be used in a monitoring mode and in an active mode. The range of tremor suppression of the signals above the orthosis operational limit ranges from about 3% (percentile 5) to about 79% (percentile 95) in relation to energy in the monitoring mode. Considering both postural and kinetic, the mean tremor energy decreased from 55.49 ± 22.93 rad 2 s −3 in the monitoring mode to 15.66 ± 7.29 rad 2 s −3 in the active mode. Medians of power reduction were below 60% for the wrist and the elbow. In addition to supplying new information on the interactions between kinematics, dynamics and tremor genesis, this non-invasive technique is an alternative to current therapies. This new approach will provide new insights into the understanding of motor control.
Design and Validation of a Rehabilitation Robotic Exoskeleton for Tremor Assessment and Suppression
IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2007
Exoskeletons are mechatronic systems worn by a person in such a way that the physical interface permits a direct transfer of mechanical power and exchange of information. Upper limb robotic exoskeletons may be helpful for people with disabilities and/or limb weakness or injury. Tremor is the most common movement disorder in neurological practice. In addition to medication, rehabilitation programs, and deep brain stimulation, biomechanical loading has appeared as a potential tremor suppression alternative. This paper introduces the robotic exoskeleton called WOTAS (wearable orthosis for tremor assessment and suppression) that provides a means of testing and validating nongrounded control strategies for orthotic tremor suppression. This paper describes in detail the general concept for WOTAS, outlining the special features of the design and selection of system components. Two control strategies developed for tremor suppression with exoskeletons are described. These two strategies are based on biomechanical loading and notch filtering the tremor through the application of internal forces. Results from experiments using these two strategies on patients with tremor are summarized. Finally, results from clinical trials are presented, which indicate the feasibility of ambulatory mechanical suppression of tremor.
Journal of Vibration Engineering & Technologies
Purpose To monitor the progression of diseases such as Parkinson’s disease (PD) or essential tremor (ET), there is a growing interest in understanding their side effects and continuously monitoring the deterioration or progress of patients’ health conditions. The objective of this study was to investigate the feasibility of a wearable monitoring device constructed from compact MEMS for robust tremor detection in the upper limb using three different storage and monitoring techniques. Method Four subjects (2 PD and 2 ET) with varying stages of disease and treatment willingly provided offline, online, and live modes of tremor data using a low-cost, miniaturized accelerometer and microelectromechanical device. Results The results demonstrated differences in voluntary and non-voluntary characteristics of various activities and the distinct separation between them in the vibration spectrum at the limit of 2 Hz. Online and live monitoring provided the best alternatives to continuous in-hom...
Development of an Effective Portable and Flexible Glove for Hand Tremor Suppression
2017
This paper presents the work carried out in designing and developing a prototype for a tremor suppression system that reduces hand tremor by counteracting vibrations initiated from a patient's shaking hand. This system includes a glove with a built-in vibration simulation module that oscillates and mimics the hand vibration. The oscillation is generated by a DC motor mounted on the top of the glove, and can vary in degree of vibration. The glove is also equipped with an accelerometer-gyroscope based micro-electromechanical system (MEMS) and vibrating coin motors mounted on each finger, both interfaced with a microcontroller. The microcontroller used in this design is an Arduino Uno3, the MEMS is the GY-521 model, and the vibrating coin motors are 3V DC, 10mm micro flat button motors. The design allows mounting up to four motors on each finger based on which axis the generated counteract is needed. Further, the performance modeling of the system was carried out using SerialChart software, which plots raw data received from the MEMS. The plotted data represents the X, Y, and Z vibration changes. These changes in vibration were suppressed to some extent, especially in the X axis. The placement of the vibration motors had an important role in reducing the hand tremor. The maximum vibration suppression was accomplished by using four vibration motors, two motors on each side of the finger. This motors' arrangement demonstrated that tremor reduction is possible, and at some instances, the reduction was close to 40%.
A Non-Invasive, Soft Robotic Wearable Glove to Attenuate Hand Tremors
Journal of Student Research
Hand tremors are a widespread medical condition that decreases a patient’s quality of life. Due to uncontrollable hand shaking, patients have difficulty completing essential daily tasks. Many also experience embarrassment and anxiety in social settings, which negatively affects many areas of their lives. Current treatments are often invasive, ineffective, and have unwanted side effects. Some non-invasive solutions excessively limit hand motion, making them ineffective in helping the wearer complete tasks, while others are highly visible and bulky. This paper presents a minimalistic, non-invasive, wearable glove that uses active feedback control and miniature, soft robotic pneumatic actuators to attenuate hand tremors while allowing freedom of movement in other directions. We 3D-modelled the hand and wrist and designed our glove and actuators using Fusion 360. These models were imported into Matlab and Simulink, where we simulated the hand tremor, actuation, and control system using ...
Wearable Devices for Assessment of Tremor
Frontiers in Neurology, 2021
Tremor is an impairing symptom associated with several neurological diseases. Some of such diseases are neurodegenerative, and tremor characterization may be of help in differential diagnosis. To date, electromyography (EMG) is the gold standard for the analysis and diagnosis of tremors. In the last decade, however, several studies have been conducted for the validation of different techniques and new, non-invasive, portable, or even wearable devices have been recently proposed as complementary tools to EMG for a better characterization of tremors. Such devices have proven to be useful for monitoring the efficacy of therapies or even aiding in differential diagnosis. The aim of this review is to present systematically such new solutions, trying to highlight their potentialities and limitations, with a hint to future developments.
Intelligent glove for suppression of resting tremor in Parkinson’s disease
2019
One of the significant symptoms in Parkinson’s disease is resting tremor. Resting tremor occurs when the muscle is relaxed, causing the limb to shake. Rhythmic muscle movement of the patients commonly happens within the range of 4 Hz to 6 Hz. Thus, reducing this type of tremor will help improve patients’ quality of life. In this paper, to suppress resting tremors, an intelligent glove was designed utilizing the concepts of vibrations and gyro effect. A rotating brass disc attached to the glove creates a gyroscopic effect of the smart glove. Therefore, the disc will do their utmost to stay upright and counter any input forces instantaneously by providing the counterforce. A reduction of more than 50 % with the intelligent glove is also shown.