A Novel Exoskeleton System Based on Magnetorheological Fluid for Tremor Suppression of Wrist Joints

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI:10.1109/ICORR.2019.8779363

Andong Yi, A. Zahedi, Yansong Wang, U-Xuan Tan, Dingguo Zhang

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引用次数: 9

Abstract

Pathological tremor is caused by a variety of neurological diseases. Although it is not life-threatening, it brings great inconvenience to patients. Traditional treatments including medication, rehabilitation programs and deep brain stimulation (DBS) have shown limited effectiveness along with risks and side effects. In order to overcome the limitations of these treatments, a new method, wearable exoskeleton technology, is introduced that aims to provide a new solution for tremor management. Based on this method, a wrist tremor suppression exoskeleton (WTSE) is developed in this research. A magnetorheological (MR) fluid damper is designed for controllable damping force and an embedded acquisition platform is used to acquire real-time tremor information. The total weight of the WTSE is 262.13 g and the maximum sustained damping force reaches 8 N. The prototype is wearable and the damping force is real-time adjustable. According to preliminary results, the signal acquisition system can obtain reliable data and the WTSE can reduce the amplitude of acceleration and angular velocity of simulated tremor by 60.39% and 55.07%, respectively.

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基于磁流变液的新型腕关节震颤抑制外骨骼系统

病理性震颤是由多种神经系统疾病引起的。虽然没有生命危险，但给患者带来了极大的不便。包括药物治疗、康复计划和深部脑刺激(DBS)在内的传统治疗方法显示出有限的效果，而且存在风险和副作用。为了克服这些治疗的局限性，引入了一种新的方法，可穿戴外骨骼技术，旨在为震颤管理提供新的解决方案。基于该方法，本研究开发了一种腕部震颤抑制外骨骼(WTSE)。设计了磁流变阻尼器，实现了阻尼力的可控，并利用嵌入式采集平台实时采集了振动信息。WTSE的总重量为262.13 g，最大持续阻尼力可达8 n。样机可穿戴，阻尼力可实时调节。初步结果表明，该信号采集系统能获得可靠的数据，WTSE能使模拟地震的加速度幅值和角速度幅值分别降低60.39%和55.07%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)

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