Abstract
Research findings on Robotics - Robotics and Automation are discussed in a new report. According to news reporting from Beijing, People’s Republic of China, by NewsRx journalists, research stated, “Active exoskeletons for tremor suppression show potential for treatment of pathological tremor thanks to their non-invasive nature. However, the active force was only used for the voluntary movement following.” Financial support for this research came from National Natural Science Foundation of China (NSFC). The news correspondents obtained a quote from the research from Tsinghua University, “As a potential alternative, fluidic elastomer actuators (FEAs) possess compliance and flexibility that is important for wearable devices. In this letter, we introduce the control implementation for a FEA to the application of active suppression of hand tremor, which allows a wearable FEA actively exerting force on the finger against tremor and meanwhile following the voluntary motion. The proposed pressure control algorithm could push the closed-loop pressure control to 19 Hz cutoff frequency. A combination neural network of Gated Recurrent Unit-Multilayer Perceptron (GRU-MLP) was proposed to identify and control a fiberreinforced FEA following the voluntary movement of hand. The active tremor suppression effectiveness of the proposed method was tested on a bench-top tremor simulator, and such method could suppress the hand tremor from the original amplitude of more than 5(degrees) to less than 1(degrees).”
NETL
NSTL
IEEE