Tremor attenuation using FES-based joint stiffness control - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2010

Tremor attenuation using FES-based joint stiffness control

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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lirmm-00472108 , version 1 (09-04-2010)

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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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