Control and Implementation of a Fluidic Elastomer Actuator for Active Suppression of Hand Tremor
IEEE ROBOTICS AND AUTOMATION LETTERS(2024)
摘要
Active exoskeletons for tremor suppression show potential for treatment of pathological tremor thanks to their non-invasive nature. However, the active force was only used for the voluntary movement following. As a potential alternative, fluidic elastomer actuators (FEAs) possess compliance and flexibility that is important for wearable devices. In this letter, we introduce the control implementation for a FEA to the application of active suppression of hand tremor, which allows a wearable FEA actively exerting force on the finger against tremor and meanwhile following the voluntary motion. The proposed pressure control algorithm could push the closed-loop pressure control to 19 Hz cutoff frequency. A combination neural network of Gated Recurrent Unit-Multilayer Perceptron (GRU-MLP) was proposed to identify and control a fiber-reinforced FEA following the voluntary movement of hand. The active tremor suppression effectiveness of the proposed method was tested on a bench-top tremor simulator, and such method could suppress the hand tremor from the original amplitude of more than 5(degrees) to less than 1(degrees). The proposed method paves a new way for tremor suppression exoskeletons.
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关键词
Control and Learning for soft robotics,modeling,neural and fuzzy control,prosthetics and exoskeletons
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