An upper-limb power-assist robot with tremor suppression control

Kazuo Kiguchi, Yoshiaki Hayashi, Toyoko Asami

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

8 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
DOIs
Publication statusPublished - Nov 2 2011
Externally publishedYes
EventRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich, Switzerland
Duration: Jun 27 2011Jul 1 2011

Publication series

NameIEEE International Conference on Rehabilitation Robotics
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Other

OtherRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
CountrySwitzerland
CityZurich
Period6/27/117/1/11

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

Cite this

Kiguchi, K., Hayashi, Y., & Asami, T. (2011). An upper-limb power-assist robot with tremor suppression control. In 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011 [5975390] (IEEE International Conference on Rehabilitation Robotics). https://doi.org/10.1109/ICORR.2011.5975390