Tremor Suppression Control of Meal-Assist Robot with Adaptive Filter

被引：0

作者：

Ohara, Eiichi ^{[1
]}

Yano, Kenichi ^{[1
]}

Horihata, Satoshi ^{[2
]}

Aoki, Takaaki ^{[3
]}

Nishimoto, Yutaka ^{[4
]}

机构：

[1] Gifu Univ, Dept Human & Informat Syst, Fac Engn, 1-1 Yanagido, Gifu 5011193, Japan

[2] Nihon Univ, Dept Med Dentistry, Fac Engn, Matsudo, Chiba, Japan

[3] Gifu Univ Hosp, Dept Rehabil Orthoped, Fac Med Sci, Gifu, Japan

[4] Gifu Univ Sch Med, Dept Surg Nursing, Fac Med Sci, Gifu, Japan

来源：

2009 IEEE 11TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, VOLS 1 AND 2 | 2009年

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A robot that supports independent living by assisting with eating and other activities involving the use of the hand using the operator's own hand would be helpful for people suffering from tremors of the hand or any other body part. In this study, the proposed adaptive filter estimates tremor frequency with a time-varying property and individual differences online, and insulates the voluntary motion signal from the sensor signal containing tremor components. As a result, the developed human-machine interface makes it possible for the person with a tremor to manipulate the supporting robot without causing operability to deteriorate and without hazards due to improper operation.

引用

页码：580 / +

页数：2

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