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Tremor attenuation using FES-based joint stiffness control

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 : In this paper, a strategy to attenuate tremor based on co-contraction of antagonist muscles using Functional Electrical Stimulation (FES) is fully presented. Both methods to track tremor features in real-time, while filtering voluntary motion, and to identify a suitable joint model are described. Using this information, the stimulation controller modulates joint stiffness based on tremor intensity, while preventing the generation of undesirable joint torque. An experimental evaluation of the system, which confirmed the effectiveness of the approach, is also presented.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00472108
Contributor : Philippe Poignet <>
Submitted on : Friday, April 9, 2010 - 3:03:35 PM
Last modification on : Friday, May 15, 2020 - 12:22:04 PM

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Antonio Bo, Philippe Poignet, Christian Geny. Tremor attenuation using FES-based joint stiffness control. ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, AK, United States. pp.2928-2933, ⟨10.1109/ROBOT.2010.5509560⟩. ⟨lirmm-00472108⟩

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