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...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2024
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| Online Access: | https://hdl.handle.net/10356/181661 |
| _version_ | 1826111226324713472 |
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| author | Raghavendra Kulkarni, Suhas Accoto, Dino Campolo, Domenico |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Raghavendra Kulkarni, Suhas Accoto, Dino Campolo, Domenico |
| author_sort | Raghavendra Kulkarni, Suhas |
| collection | NTU |
| 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. |
| first_indexed | 2025-03-09T10:16:15Z |
| format | Journal Article |
| id | ntu-10356/181661 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-03-09T10:16:15Z |
| publishDate | 2024 |
| record_format | dspace |
| spelling | ntu-10356/1816612024-12-14T16:49:11Z Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial Raghavendra Kulkarni, Suhas Accoto, Dino Campolo, Domenico School of Mechanical and Aerospace Engineering Singapore-ETH Centre Robotics Research Centre Engineering Metamaterial Tremor suppression Wearable robot Optimization Cable-based actuation Viscous damping 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. National Research Foundation (NRF) Published version The research was conducted with the Future Health Technologies at the Singapore-ETH Centre, which was established collaboratively between ETH Zurich and the National Research Foundation Singapore. This research is partly supported by the National Research Foundation Singapore (NRF) under its Campus for Research Excellence and Technological Enterprise (CREATE) program. 2024-12-13T00:08:46Z 2024-12-13T00:08:46Z 2024 Journal Article Raghavendra Kulkarni, S., Accoto, D. & Campolo, D. (2024). Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial. Wearable Technologies, 5, e20-. https://dx.doi.org/10.1017/wtc.2024.15 2631-7176 https://hdl.handle.net/10356/181661 10.1017/wtc.2024.15 5 e20 en CREATE program Wearable Technologies © 2024 The Author(s). Published by Cambridge University Press. This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0), which permits unrestricted re-use, distribution and reproduction, provided the original article is properly cited. application/pdf |
| spellingShingle | Engineering Metamaterial Tremor suppression Wearable robot Optimization Cable-based actuation Viscous damping Raghavendra Kulkarni, Suhas Accoto, Dino Campolo, Domenico Viscous damping of tremor using a wearable robot with an optimized mechanical metamaterial |
| 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 | Engineering Metamaterial Tremor suppression Wearable robot Optimization Cable-based actuation Viscous damping |
| url | https://hdl.handle.net/10356/181661 |
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