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Filtering Voluntary Motion for Pathological Tremor Compensation

Antonio Bo 1 Philippe Poignet 2 Christian Geny 3
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This paper describes an algorithm to estimate tremor and voluntary motion from measured motion data. Estimation is performed by means of an extended Kalman filter (EKF), which also estimates tremor parameters. Comparison of the proposed method with techniques described in the literature are conducted with two experimental data sets from tremor patients performing the same task, drawing a spiral. The presented algorithm may be directly applied in real-time pathological tremor compensation systems.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00412950
Contributor : Antonio Bo <>
Submitted on : Wednesday, September 2, 2009 - 5:05:36 PM
Last modification on : Friday, May 15, 2020 - 12:22:04 PM
Long-term archiving on: : Tuesday, June 15, 2010 - 9:19:49 PM

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Antonio Bo, Philippe Poignet, Christian Geny. Filtering Voluntary Motion for Pathological Tremor Compensation. IROS: Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. pp.55-60, ⟨10.1109/IROS.2009.5353972⟩. ⟨lirmm-00412950⟩

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