Mechanical and Materials Engineering Publications

Title

Kinematic Modeling and Characterization of a Wearable Tremor Suppression Device for Pathological Tremor Reduction

Document Type

Conference Proceeding

Publication Date

11-1-2020

Volume

2020-November

Journal

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

First Page

1236

URL with Digital Object Identifier

10.1109/BioRob49111.2020.9224290

Last Page

1241

Abstract

Wearable tremor suppression devices have been proposed as a promising alternative to suppress or reduce tremor motion associated with neurological disorders. To fully benefit patients, available tremor suppression devices need to be improved in their design, size, weight, and control. Although tendon-driven transmission systems are able to decrease the size and weight of these devices, they have complex control system requirements due to their substantially nonlinear behavior. For this purpose, this paper aims to develop a precise kinematic model of a wearable tremor suppression glove by considering the configuration of its tendons and sheaths, in order to improve the tendon arrangement, study the kinetic model of the glove, and increase the accuracy of the control system. A novel model is presented to calculate the tendon travel during hand motion. The derived kinematic model of the glove was verified by both simulation and benchtop experiments, and the new model has been validated. The mean correlation coefficient for the kinematic model is 0.90±0.01.

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