ICRA 2011 Paper Abstract


Paper WeP108.4

Widjaja, Ferdinan (Nanyang Technological University), Shee, Cheng Yap (Nanyang Technological University, Singapore), Au, Wing Lok (National Neuroscience Institute), Poignet, Philippe (LIRMM UMR 5506 CNRS UM2), Ang, Wei Tech (Nanyang Technological University)

Using Electromechanical Delay for Real-time Anti-phase Tremor Attenuation System using Functional Electrical Stimulation

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics III" (WeP108), Wednesday, May 11, 2011, 14:25−14:40, 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 July 14, 2020

Keywords Rehabilitation Robotics


In this paper, we propose a novel anti-phase tremor compensation method using surface electromyography (SEMG) and accelerometer (ACC). The usefulness of the SEMG signal is that it precedes the generated joint movement by 20-100 ms electromechanical delay, EMD). Hence by detecting the tremor in advance, there is enough time window to do the necessary computation and to actuate the antagonist muscle by Functional Electrical Stimulation (FES). This is also possible because the time taken for FES to actuate the muscle is significantly less than that of the neural signal, as detected by SEMG. Specifically, what is proposed in this paper is algorithm to an estimate the EMD and to determine when to start/stop the FES such that anti-phase tremor cancellation. Experimental result from one Essential Tremor patient show 57% reduction in tremor power as measured by the ACC.



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