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

doi:10.1109/ICSMC.2011.6083728

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

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

15 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 language	English
Title of host publication	Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Pages	729-735
Number of pages	7
DOIs	https://doi.org/10.1109/ICSMC.2011.6083728
Publication status	Published - 2011
Event	2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011 - Anchorage, AK Duration: 2011 Oct 9 → 2011 Oct 12

Other

Other	2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011
City	Anchorage, AK
Period	11/10/9 → 11/10/12

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

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10.1109/ICSMC.2011.6083728

Cite this

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

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title = "Development of robotic upper limb orthosis with tremor suppressiblity and elbow joint movability",

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{"}.",

keywords = "exoskeletal robot, surface EMG, Time Delay Neurak Network, tremor suppression",

author = "Masatoshi Seki and Yuya Matsumoto and Takeshi Ando and Yo Kobayashi and Fujie, {Masakatsu G.} and Hiroshi Iijima and Masanori Nagaoka",

year = "2011",

doi = "10.1109/ICSMC.2011.6083728",

language = "English",

isbn = "9781457706523",

pages = "729--735",

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T1 - Development of robotic upper limb orthosis with tremor suppressiblity and elbow joint movability

AU - Seki, Masatoshi

AU - Matsumoto, Yuya

AU - Ando, Takeshi

AU - Kobayashi, Yo

AU - Fujie, Masakatsu G.

AU - Iijima, Hiroshi

AU - Nagaoka, Masanori

PY - 2011

Y1 - 2011

N2 - 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".

AB - 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".

KW - exoskeletal robot

KW - surface EMG

KW - Time Delay Neurak Network

KW - tremor suppression

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BT - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

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Y2 - 9 October 2011 through 12 October 2011

ER -

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

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Keywords

ASJC Scopus subject areas

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