Development of robotic upper limb orthosis with tremor suppressiblity and elbow joint movability

Masatoshi Seki, Yuya Matsumoto, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie, Hiroshi Iijima, Masanori Nagaoka

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

8 Citations (Scopus)

Abstract

Essential Tremor (ET) refers to involuntary movements of a part of the body. ET patients have serious difficulties in performing daily living activities. We have been developing a myoelectric controlled exoskeletal robot to suppress tremor. However, the EMG signal of ET patients contains not only signals from voluntary movements but also noise from involuntary tremors. Then, we have developed a signal processing method to suppress tremor noise present in the surface EMG signal. The proposed filter is based on the hypothesis that tremor noise could be approximate to powered sine wave. In this paper, we have integrated tremor canceling filter and neural network (NN) to recognize the tremor patient's movement. According to the result, it was confirmed that the proposal filter increased accuracy of recognition, especially stable phase on elbow flexed position as "OFF".

Original languageEnglish
Title of host publicationConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Pages729-735
Number of pages7
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011 - Anchorage, AK
Duration: 2011 Oct 92011 Oct 12

Other

Other2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011
CityAnchorage, AK
Period11/10/911/10/12

Fingerprint

Signal processing
Robotics
Robots
Neural networks

Keywords

  • exoskeletal robot
  • surface EMG
  • Time Delay Neurak Network
  • tremor suppression

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

Cite this

Seki, M., Matsumoto, Y., Ando, T., Kobayashi, Y., Fujie, M. G., Iijima, H., & Nagaoka, M. (2011). Development of robotic upper limb orthosis with tremor suppressiblity and elbow joint movability. In Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics (pp. 729-735). [6083728] https://doi.org/10.1109/ICSMC.2011.6083728

Development of robotic upper limb orthosis with tremor suppressiblity and elbow joint movability. / Seki, Masatoshi; Matsumoto, Yuya; Ando, Takeshi; Kobayashi, Yo; Fujie, Masakatsu G.; Iijima, Hiroshi; Nagaoka, Masanori.

Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics. 2011. p. 729-735 6083728.

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

Seki, M, Matsumoto, Y, Ando, T, Kobayashi, Y, Fujie, MG, Iijima, H & Nagaoka, M 2011, Development of robotic upper limb orthosis with tremor suppressiblity and elbow joint movability. in Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics., 6083728, pp. 729-735, 2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011, Anchorage, AK, 11/10/9. https://doi.org/10.1109/ICSMC.2011.6083728
Seki M, Matsumoto Y, Ando T, Kobayashi Y, Fujie MG, Iijima H et al. Development of robotic upper limb orthosis with tremor suppressiblity and elbow joint movability. In Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics. 2011. p. 729-735. 6083728 https://doi.org/10.1109/ICSMC.2011.6083728
Seki, Masatoshi ; Matsumoto, Yuya ; Ando, Takeshi ; Kobayashi, Yo ; Fujie, Masakatsu G. ; Iijima, Hiroshi ; Nagaoka, Masanori. / Development of robotic upper limb orthosis with tremor suppressiblity and elbow joint movability. Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics. 2011. pp. 729-735
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