{"title":"通过手臂运动控制安全震颤抑制","authors":"Dylan Arnal, T. Murakami, T. Nozaki","doi":"10.1109/ISIE.2017.8001404","DOIUrl":null,"url":null,"abstract":"Among aging populations, tremors are becoming an ever greater barrier to autonomy. The purpose of this study is to design a tremor suppressing robotic system for the human arm. This system is designed to be linked to the back of the user's hand using a magnetic link, preventing the user from being hurt should the system be subject to malfunction. The presented control law consists of a velocity-force hybrid control using the computed torque method. Results show the tremors attenuation capability but highlight a minor delay in the motion's transmission.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"487 1-2 1","pages":"1129-1134"},"PeriodicalIF":0.0000,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Safe tremor suppression through arm movement control\",\"authors\":\"Dylan Arnal, T. Murakami, T. Nozaki\",\"doi\":\"10.1109/ISIE.2017.8001404\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Among aging populations, tremors are becoming an ever greater barrier to autonomy. The purpose of this study is to design a tremor suppressing robotic system for the human arm. This system is designed to be linked to the back of the user's hand using a magnetic link, preventing the user from being hurt should the system be subject to malfunction. The presented control law consists of a velocity-force hybrid control using the computed torque method. Results show the tremors attenuation capability but highlight a minor delay in the motion's transmission.\",\"PeriodicalId\":6597,\"journal\":{\"name\":\"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)\",\"volume\":\"487 1-2 1\",\"pages\":\"1129-1134\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-08-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISIE.2017.8001404\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIE.2017.8001404","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Safe tremor suppression through arm movement control
Among aging populations, tremors are becoming an ever greater barrier to autonomy. The purpose of this study is to design a tremor suppressing robotic system for the human arm. This system is designed to be linked to the back of the user's hand using a magnetic link, preventing the user from being hurt should the system be subject to malfunction. The presented control law consists of a velocity-force hybrid control using the computed torque method. Results show the tremors attenuation capability but highlight a minor delay in the motion's transmission.
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