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.
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00412950
Contributeur : Antonio Bo
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Soumis le : mercredi 2 septembre 2009 - 17:05:36
Dernière modification le : mardi 20 mars 2018 - 16:16:02
Document(s) archivé(s) le : mardi 15 juin 2010 - 21:19:49
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. IEEE/RSJ, pp.55-60, 2009, 〈http://www.iros09.mtu.edu〉. 〈10.1109/IROS.2009.5353972〉. 〈lirmm-00412950〉
