Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial
Pathological tremors can often be debilitating to activities of daily living and significantly affect the quality of life. Such tremulous movements are commonly observed in wrist flexion-extension (FE). To suppress this tremor we present a wearable robot (WR) with a customized mechanical metamateria...
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| Format: | Article |
| Language: | English |
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Cambridge University Press
2024-01-01
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| Series: | Wearable Technologies |
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| Online Access: | https://www.cambridge.org/core/product/identifier/S263171762400015X/type/journal_article |
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| author | Suhas Raghavendra Kulkarni Dino Accoto Domenico Campolo |
| author_facet | Suhas Raghavendra Kulkarni Dino Accoto Domenico Campolo |
| author_sort | Suhas Raghavendra Kulkarni |
| collection | DOAJ |
| description | Pathological tremors can often be debilitating to activities of daily living and significantly affect the quality of life. Such tremulous movements are commonly observed in wrist flexion-extension (FE). To suppress this tremor we present a wearable robot (WR) with a customized mechanical metamaterial (MM) as the physical human-robot interface (pHRI). The MM is optimized to conform to the user’s wrist posture and follow the hand’s Cartesian trajectory. This is done to minimize the shear between the pHRI and the user’s skin and consequently improve wearability. This WR is then used to effect a viscous tremor suppression using the velocity of the user’s wrist FE. We present a model for the interaction between the WR and the user with which we develop the viscous damping approach for tremor. This is then evaluated in simulation and using a dedicated test bed. This tremor suppression approach demonstrates an attenuation of 20–30 dB at various tremulous frequencies resulting in significantly lower tremor amplitudes due to the viscous damping. |
| format | Article |
| id | doaj-art-acb510c78c1d4135a145abdfb13f0ccc |
| institution | OA Journals |
| issn | 2631-7176 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Cambridge University Press |
| record_format | Article |
| series | Wearable Technologies |
| spelling | doaj-art-acb510c78c1d4135a145abdfb13f0ccc2025-08-20T01:56:10ZengCambridge University PressWearable Technologies2631-71762024-01-01510.1017/wtc.2024.15Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterialSuhas Raghavendra Kulkarni0https://orcid.org/0000-0002-9839-249XDino Accoto1Domenico Campolo2Robotics Research Centre, School of Mechanical and Aerospace Engineering, NTU, SingaporeDepartment of Mechanical Engineering, Ghent and Aalst Campuses, KU Leuven, Ghent, BelgiumRobotics Research Centre, School of Mechanical and Aerospace Engineering, NTU, SingaporePathological tremors can often be debilitating to activities of daily living and significantly affect the quality of life. Such tremulous movements are commonly observed in wrist flexion-extension (FE). To suppress this tremor we present a wearable robot (WR) with a customized mechanical metamaterial (MM) as the physical human-robot interface (pHRI). The MM is optimized to conform to the user’s wrist posture and follow the hand’s Cartesian trajectory. This is done to minimize the shear between the pHRI and the user’s skin and consequently improve wearability. This WR is then used to effect a viscous tremor suppression using the velocity of the user’s wrist FE. We present a model for the interaction between the WR and the user with which we develop the viscous damping approach for tremor. This is then evaluated in simulation and using a dedicated test bed. This tremor suppression approach demonstrates an attenuation of 20–30 dB at various tremulous frequencies resulting in significantly lower tremor amplitudes due to the viscous damping.https://www.cambridge.org/core/product/identifier/S263171762400015X/type/journal_articlemetamaterialwearable robottremor suppressionviscous damping |
| spellingShingle | Suhas Raghavendra Kulkarni Dino Accoto Domenico Campolo Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial Wearable Technologies metamaterial wearable robot tremor suppression viscous damping |
| title | Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial |
| title_full | Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial |
| title_fullStr | Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial |
| title_full_unstemmed | Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial |
| title_short | Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial |
| title_sort | viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial |
| topic | metamaterial wearable robot tremor suppression viscous damping |
| url | https://www.cambridge.org/core/product/identifier/S263171762400015X/type/journal_article |
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