Bandlimited Multiple Fourier Linear Combiner for Real-time Tremor Compensation

Veluvolu, Kalyana C.; Tan, U-Xuan; Latt, Win Tun; Shee, Cheng Yap; Ang, Wei Tech

doi:10.1109/iembs.2007.4352922

Cited by 60 publications

(61 citation statements)

References 7 publications

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“…According to the hand tremor feature and computer-processing ability, the band-limited multiple Fourier linear combiner (BMFLC) is adopted as the real-time tremor attenuation algorithm for our RMIS system. [13] Tremor is amenable to the Fourier series model because of its roughly periodic feature. The tremor signal can be estimated by adapting amplitude and phase of some sinusoidal signals in different reference frequencies.…”

Section: Real-time Tremor Attenuationmentioning

confidence: 99%

Master–slave real-time control strategy in Cartesian space for a novel surgical robot for minimally invasive surgery

Pan

et al. 2016

Computer Assisted Surgery

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The Fourth Affiliated Hospital, Harbin Medical University, Harbin, China ABSTRACT Robot-assisted systems can enhance the precision of surgical procedures, and have been widely used in minimally invasive surgery (MIS). This paper proposes the master-slave real-time control strategy for a novel surgical robot for MIS. The robot is equipped with two instrument manipulators and one laparoscope manipulator. The control strategy solves problems of kinematics transformation on consistency principle, intra-operative re-mapping and tremor attenuation in real-time. The kinematics model of slave instrument manipulators is established, and the master-slave control method in Cartesian space is proposed. Intra-operative re-mapping and real-time tremor attenuation algorithms are also proposed as auxiliary functions to improve surgical robot's performance. The proposed methods are verified by respective experiments. Finally, animal experiment is performed to verify the correctness and efficiency of the control strategy in this research.

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Section: Real-time Tremor Attenuationmentioning

confidence: 99%

Master–slave real-time control strategy in Cartesian space for a novel surgical robot for minimally invasive surgery

Pan

et al. 2016

Computer Assisted Surgery

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“…Acceleration components, angular speed components and magnetic components were filtered and smoothed by using a 10th order bandpass IIR Butterworth filter with cutoff frequencies f c1 = 0.05 Hz, f c2 = 5 Hz, to remove bias and physiological tremor (Ibanez et al, 2006;Veluvolu et al, 2007). In this way only the data due to the voluntary jaw movement were analyzed.…”

Section: Methodsmentioning

confidence: 99%

Development of an Ultra-Miniaturized Inertial Measurement Unit for Jaw Movement Analysis during Free Chewing

Lin¹

2010

Journal of Computer Science

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Problem statement: Jaw movement analysis, as a clinical aid, can provide an objective basis for understanding and diagnosing jaw musculoskeletal disorders. Therefore, the use and development of devices for quantitatively measuring and analyzing jaw movement have become more common and popular in the clinic. Many types of jaw tracking devices have been developed, but most of them are still not handy and easy to be used. Approach: To improve the handiness and utility of the jaw movement analysis devices, we developed a simple to be used jaw tracking prototype by using a new ultra-miniaturized Inertial Measurement Unit (IMU) named WB-3. The WB-3 IMU was composed by 3-axis gyroscope, 3-axis accelerometer and 3-aixs magnetometer, which can not only measure the acceleration and angular speed of jaw movement, but also can measure mouth opening angle. The IMU's extremely reduced weight and size allowed it to be easily adhered to mandible during normal tests without physical restriction to the subjects. A preliminary experiment for jaw movement analysis during free chewing of three types of food with different shapes and hardness was evaluated. A group of 15 healthy subjects aged from 21-36 years old kindly participated in the experiment. Results: The parameters of chewing time, chewing frequency, power spectrum density of jaw's angular speed and acceleration, cumulative distribution function of jaw's acceleration and mouth opening angle were presented. The experimental results clearly showed that the subjects used less chewing time, less chewing frequency, less acceleration cumulative distribution and energy to eat soft food; higher values were found in the case of hard food and there was no significant difference in mouth opening angle while eating these three foods. Conclusion: Our jaw movement analysis prototype using IMU WB-3 was proved to be a valid and handy method for jaw movement and pattern analysis which may be used clinically as an assistant system for dental therapy.

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“…the BMFLC technique. BMFLC is designed to track multiple harmonics of a signal [29][30][31] and showed higher accuracy compared to conventional FLC-based filters [30]. In the literature, BMFLC filtering has also been used for extracting physiological hand tremor of surgeons [36][37][38] and recently has shown good performance in extracting pathological involuntary motions [33].…”

Section: Components and The Design Of Actionsmentioning

confidence: 99%

“…The BMFLC filter is an adaptive technique which is utilized to extract involuntary movements while introducing minimal filtering latency into the interaction. The design of the filter can be found in [29][30][31][32].…”

Section: Components and The Design Of Actionsmentioning

confidence: 99%

“…The algorithm first analyzes the individual's hand motion and extracts the involuntary and voluntary components. For this purpose, a low-pass Band-limited Multiple Fourier Linear Combiner (BMFLC) filter (see [29][30][31][32]) is implemented to extract the involuntary component of the hand motion, which has a highfrequency nature in comparing with voluntary component of the motion [24,25]. The BMFLC filter is an adaptive technique which is utilized to extract involuntary movements while introducing minimal filtering latency into the interaction.…”

Section: Components and The Design Of Actionsmentioning

confidence: 99%

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Telerobotics-Assisted Platform for Enhancing Interaction with Physical Environments for People Living with Cerebral Palsy

Atashzar

Jafari

Shahbazi

et al. 2017

J. Med. Robot. Res.

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In this paper, the design and implementation of a new telerobotics-assisted platform is proposed for individuals who have cerebral palsy (CP). The main objective of the proposed assistive system is to modulate capabilities of individuals through the proposed telerobotic medium and to enhance their control over interaction with objects in a real physical environment. The proposed platform is motivated by evidence showing that lack of interaction with real environments can develop further secondary sensorimotor and cognitive issues for people who grow up with CP. The proposed telerobotic system assists individuals by (a) mapping their limited but convenient motion range to a larger workspace needed for task performance in the real environment, (b) transferring only the voluntary components of the hand motion to the task-side robot to perform tasks and (c) kinaesthetically dissipating the energy of their involuntary motions using a viscous force field implemented in high frequency domain. Consequently, using the proposed system, an individual who has CP will be capable of providing smooth and large-scale motions and presenting enhanced coordination while performing tasks, even if they naturally have involuntary movements, limited range of motion and/or coordination deficits. The proposed architecture is implemented and initially tested for one nondisabled participant. Afterwards, the system is evaluated for one individual who lives with CP. The resulting quality of motion and task performance are analyzed through a designed clinical protocol. The results confirm the functionality of the proposed assistive platform in enhancing the capabilities of individuals who live with CP in interacting with physical environments.

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Bandlimited Multiple Fourier Linear Combiner for Real-time Tremor Compensation

Cited by 60 publications

References 7 publications

Master–slave real-time control strategy in Cartesian space for a novel surgical robot for minimally invasive surgery

Master–slave real-time control strategy in Cartesian space for a novel surgical robot for minimally invasive surgery

Development of an Ultra-Miniaturized Inertial Measurement Unit for Jaw Movement Analysis during Free Chewing

Telerobotics-Assisted Platform for Enhancing Interaction with Physical Environments for People Living with Cerebral Palsy

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