Estimation of instantaneous tremor parameters for FES-based tremor suppression
Estimation of instantaneous tremor parameters for FES-based tremor suppression
复制标题
基于 FES 的震颤抑制的瞬时震颤参数估计
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
José Luis Pons Rovira
中科院分区：
文献类型：
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作者：
J. A. Gallego;Eduardo Rocon;José Luis Pons Rovira
病理性震颤是最常见的运动障碍，并且随着年龄的增长其患病率不断增加。对于药物难治的患者，治疗形式包括药物和手术，但约 25% 的患者震颤未得到有效控制。据此，新的管理技术，例如利用选择性生物力学负载的可穿戴机器人，似乎是一个有趣的替代方案。我们的目标是设计能够抑制颤抖的机器人外骨骼，让用户通过包括精确颤抖模型的智能控制方法进行自主运动。在这种情况下，我们提出了一种两阶段算法，用于实时估计时变震颤幅度和频率。它基于这样的假设：震颤以累加的方式改变自主运动，并且发生在较高的频带中。两阶段算法首先根据其固有的较慢动态生成随意运动的估计，然后将其从总运动中删除，直接提供震颤的估计。然后将该震颤估计馈送到自适应滤波器，该滤波器提供瞬时震颤特征。获得准确且稳健的震颤幅度和频率估计。
Pathological tremor constitutes the most common movement disorder, and is increasing its prevalence with ageing. Treatment forms range from drugs to surgery in those patients refractory to drugs, however, tremor is not effectively managed in about 25% of patients. According to this, new management techniques such as wearable robots that take advantage of selective biomechanical loading seem an interesting alternative. Our objective is to design robotic exoskeletons which suppress tremor, letting the user perform a voluntary movement, by means of intelligent control approaches that include accurate tremor models. In this context, we propose a two-stage algorithm for real-time estimation of time varying tremor amplitude and frequency. It is based on the assumption that tremor alters voluntary motion in an additive manner, and happens in a higher frequency band. The two-stage algorithm first generates an estimation of voluntary movement based on its inherent slower dynamics, and then removes it from the total motion, directly providing an estimate of tremor. This tremor estimation is then fed into an adaptive filter, which provides instantaneous tremor characteristics. Accurate and robust tremor amplitude and frequency estimates are obtained.