TY - GEN
T1 - An upper-limb power-assist robot with tremor suppression control
AU - Kiguchi, Kazuo
AU - Hayashi, Yoshiaki
AU - Asami, Toyoko
PY - 2011/11/2
Y1 - 2011/11/2
N2 - A tremor is somewhat rhythmic motion that may occur in various body parts. An essential tremor is one of the most common tremor disorders of the arm and it may occur during a voluntary motion. If the essential tremor occurs in the arm, the person may not be able to achieve the target task properly since the human performs various sensitive tasks with certain tools. Suppressing the vibration of the grasped tool is important when the person uses the tool. Power-assist robots are useful for not only the physically weak persons but also for persons involved in physically-taxing work such as a care or a farm work. Although some power-assist robots are controlled by using electromyogram (EMG) signals, EMG signals are influenced by the essential tremor. Therefore, when the user who suffers from the tremor uses the power-assist robot controlled based on EMG signals, the robot might assist the vibration of the tremor. In this paper, the tremor suppression control method is proposed for upper-limb power-assist robot. In proposed method, the vibrations of the hand and the tip of the tool are suppressed. The validity of the proposed method was verified by the experiments.
AB - A tremor is somewhat rhythmic motion that may occur in various body parts. An essential tremor is one of the most common tremor disorders of the arm and it may occur during a voluntary motion. If the essential tremor occurs in the arm, the person may not be able to achieve the target task properly since the human performs various sensitive tasks with certain tools. Suppressing the vibration of the grasped tool is important when the person uses the tool. Power-assist robots are useful for not only the physically weak persons but also for persons involved in physically-taxing work such as a care or a farm work. Although some power-assist robots are controlled by using electromyogram (EMG) signals, EMG signals are influenced by the essential tremor. Therefore, when the user who suffers from the tremor uses the power-assist robot controlled based on EMG signals, the robot might assist the vibration of the tremor. In this paper, the tremor suppression control method is proposed for upper-limb power-assist robot. In proposed method, the vibrations of the hand and the tip of the tool are suppressed. The validity of the proposed method was verified by the experiments.
UR - http://www.scopus.com/inward/record.url?scp=80055033111&partnerID=8YFLogxK
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U2 - 10.1109/ICORR.2011.5975390
DO - 10.1109/ICORR.2011.5975390
M3 - Conference contribution
C2 - 22275594
AN - SCOPUS:80055033111
SN - 9781424498628
T3 - IEEE International Conference on Rehabilitation Robotics
BT - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
T2 - Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
Y2 - 27 June 2011 through 1 July 2011
ER -