On the use of an active wearable exoskeleton for tremor suppression via biomechanical loading

E. Rocon*, A. F. Ruiz, F. Brunetti, Jose L Pons, J. M. Belda-Lois, J. J. Sánchez-Lacuesta

*Corresponding author for this work

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

9 Scopus citations

Abstract

Biomechanical loading, in particular, viscous loading of the upper limb has been proposed in the literature as a means for suppressing pathologic tremor. It is expected that an improvement on manipulative function can be obtained by reducing the tremorous motion associated to some neurological disorders. This article presents two non-grounded control strategies to suppress tremor by means of a orthotic (wearable) exoskeleton. These two strategies are based on biomechanical loading and notch filtering of tremor via internal forces. Both controls strategies will be evaluated and validated on the robotic exoskeleton called WOTAS (Wearable Orthosis for Tremor Assessment and Suppression). At the end, results obtained in the pre-clinical trials and conclusions of this study are presented.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3140-3145
Number of pages6
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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