ICRA 2011 Paper Abstract


Paper TuP208.6

Gallego, Juan Alvaro (Consejo Superior de Investigaciones Científicas), Rocon, Eduardo (Instituto de Automática Industrial), Pons, Jose Luis (CSIC)

A Soft Wearable Robot for Tremor Assessment and Suppression

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics II" (TuP208), Tuesday, May 10, 2011, 16:40−16:55, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Neurorobotics, Brain Machine Interface, Rehabilitation Robotics


Tremor constitutes the most common motor disorder, and poses a functional problem to a large number of patients. Despite of the considerable experience in tremor management, current treatment based on drugs or surgery does not attain an effective attenuation in 25 % of patients, motivating the need for research in new therapeutic alternatives. In this context, this paper presents the concept design, development, and preliminary validation of a soft wearable robot for tremor assessment and suppression. The TREMOR neurorobot comprises a Brain Neural Computer Interface that monitors the whole neuromusculoskeletal system, aiming at characterizing both voluntary movement and tremor, and a Functional Electrical Stimulation system that compensates for tremulous movements without impeding the user perform functional tasks. First results demonstrate the performance of the TREMOR neurorobot as a novel means of assessing and attenuating pathological tremors.



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