Tremor suppression control of Meal-Assist Robot with adaptive filter
Tremor suppression control of Meal-Assist Robot with adaptive filter
复制标题
自适应滤波器助餐机器人的震颤抑制控制
DOI：
10.1109/icorr.2009.5209565
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Y. Nishimoto
中科院分区：
文献类型：
--
作者：
E. Ohara;K. Yano;S. Horihata;T. Aoki;Y. Nishimoto
通过协助进食和其他涉及使用操作员自己的手的活动来支持独立生活的机器人将有助于手部或任何其他身体部位颤抖的人。在本研究中，提出的自适应滤波器在线估计具有时变特性和个体差异的震颤频率，并将随意运动信号与包含震颤成分的传感器信号隔离开来。因此，所开发的人机界面使得患有颤抖的人能够操纵支撑机器人，而不会导致可操作性恶化，并且不会因操作不当而造成危险。
A robot that supports independent living by assisting with eating and other activities involving the use of the hand using the operator's own hand would be helpful for people suffering from tremors of the hand or any other body part. In this study, the proposed adaptive filter estimates tremor frequency with a time-varying property and individual differences online, and insulates the voluntary motion signal from the sensor signal containing tremor components. As a result, the developed human-machine interface makes it possible for the person with a tremor to manipulate the supporting robot without causing operability to deteriorate and without hazards due to improper operation.