Jamming enabled variable stiffness wrist exoskeleton for tremor suppression
Parkinson's disease is a chronic disorder that affects the central nervous system of patients. It affects millions of aging populations around the world every year. Approximately 80% of Parkinson's disease patients suffer from tremors which significantly reduce their life quality. In this...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/170247 |
| _version_ | 1811689032385560576 |
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| author | Wang, Guohui Wang, Hailu Gao, Weinan Yang, Xudong Wang, Yifan |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Wang, Guohui Wang, Hailu Gao, Weinan Yang, Xudong Wang, Yifan |
| author_sort | Wang, Guohui |
| collection | NTU |
| description | Parkinson's disease is a chronic disorder that affects the central nervous system of patients. It affects millions of aging populations around the world every year. Approximately 80% of Parkinson's disease patients suffer from tremors which significantly reduce their life quality. In this study, we present a variable stiffness wrist exoskeleton (VSW-Exo) that is lightweight (less than 300 g on the wrist) and can effectively suppress wrist tremors in all three degrees of freedom. The functioning material of the variable stiffness unit is a novel chain mail-like structured fabric whose stiffness can be pneumatically controlled over a wide range under the jamming transition. Bending and Torsion tests are performed to characterize the VSW-Exo's damping force and torque. To evaluate the VSW-Exo's performance on human bodies, we devise vibration experiments to evaluate the prototype's performance on tremor suppression. The testing results show that our VSW-Exo's tremor suppression efficiency can reach up from 64.11 ± 10.92% to 67.24 ± 6.74%. Compared to other tremor suppression devices, our VSW-Exo can provide enough damping forces and torques to suppress tremors in all 3 directions with high efficiency and low weight on the wrist. |
| first_indexed | 2024-10-01T05:41:39Z |
| format | Journal Article |
| id | ntu-10356/170247 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:41:39Z |
| publishDate | 2023 |
| record_format | dspace |
| spelling | ntu-10356/1702472023-09-05T00:44:07Z Jamming enabled variable stiffness wrist exoskeleton for tremor suppression Wang, Guohui Wang, Hailu Gao, Weinan Yang, Xudong Wang, Yifan School of Mechanical and Aerospace Engineering Engineering::Mechanical engineering Jamming Parkinson’s Disease Parkinson's disease is a chronic disorder that affects the central nervous system of patients. It affects millions of aging populations around the world every year. Approximately 80% of Parkinson's disease patients suffer from tremors which significantly reduce their life quality. In this study, we present a variable stiffness wrist exoskeleton (VSW-Exo) that is lightweight (less than 300 g on the wrist) and can effectively suppress wrist tremors in all three degrees of freedom. The functioning material of the variable stiffness unit is a novel chain mail-like structured fabric whose stiffness can be pneumatically controlled over a wide range under the jamming transition. Bending and Torsion tests are performed to characterize the VSW-Exo's damping force and torque. To evaluate the VSW-Exo's performance on human bodies, we devise vibration experiments to evaluate the prototype's performance on tremor suppression. The testing results show that our VSW-Exo's tremor suppression efficiency can reach up from 64.11 ± 10.92% to 67.24 ± 6.74%. Compared to other tremor suppression devices, our VSW-Exo can provide enough damping forces and torques to suppress tremors in all 3 directions with high efficiency and low weight on the wrist. Agency for Science, Technology and Research (A*STAR) Ministry of Health (MOH) Nanyang Technological University This work was supported in part by the A*STAR Singapore through RIE2025 MTC under IRG Awards M21K2c0118 and RIE2020 AME YIRG under Award A2084c0162, in part by the Singapore Ministry of Health under Award MOH-001184-01, and in part by Nanyang Technological University through NAP under Award 020482. 2023-09-05T00:44:07Z 2023-09-05T00:44:07Z 2023 Journal Article Wang, G., Wang, H., Gao, W., Yang, X. & Wang, Y. (2023). Jamming enabled variable stiffness wrist exoskeleton for tremor suppression. IEEE Robotics and Automation Letters, 8(6), 3693-3700. https://dx.doi.org/10.1109/LRA.2023.3270747 2377-3766 https://hdl.handle.net/10356/170247 10.1109/LRA.2023.3270747 2-s2.0-85159687633 6 8 3693 3700 en M21K2c0118 A2084c0162 MOH-001184-01 NAP (020482) IEEE Robotics and Automation Letters © 2023 IEEE. All rights reserved. |
| spellingShingle | Engineering::Mechanical engineering Jamming Parkinson’s Disease Wang, Guohui Wang, Hailu Gao, Weinan Yang, Xudong Wang, Yifan Jamming enabled variable stiffness wrist exoskeleton for tremor suppression |
| title | Jamming enabled variable stiffness wrist exoskeleton for tremor suppression |
| title_full | Jamming enabled variable stiffness wrist exoskeleton for tremor suppression |
| title_fullStr | Jamming enabled variable stiffness wrist exoskeleton for tremor suppression |
| title_full_unstemmed | Jamming enabled variable stiffness wrist exoskeleton for tremor suppression |
| title_short | Jamming enabled variable stiffness wrist exoskeleton for tremor suppression |
| title_sort | jamming enabled variable stiffness wrist exoskeleton for tremor suppression |
| topic | Engineering::Mechanical engineering Jamming Parkinson’s Disease |
| url | https://hdl.handle.net/10356/170247 |
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