Upper-limb tremor suppression with a 7DOF exoskeleton power-assist robot

Kiguchi, Kazuo; Hayashi, Yoshiaki

doi:10.1109/embc.2013.6611088

Cited by 11 publications

(9 citation statements)

References 13 publications

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“…However, previous attempts were made to develop medical devices for the treatment of ET. Theoretical (conceptual) articles have been published by several authors regarding the use of the self-balancing device [ 22 ] and exoskeleton power-assist robot to treat essential tremor [ 23 ]. However, these concepts were not clinically developed.…”

Section: Discussionmentioning

confidence: 99%

Local Vibrational Therapy for Essential Tremor Reduction: A Clinical Study

et al. 2020

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Background and objectives: tremor is an unintentional and rhythmic movement of any part of the body that is a typical symptom of Essential Tremor (ET). ET impairs the quality of life of patients and is treated with pharmacotherapy. We investigated the tremor reduction efficacy of an innovative vibrational medical device (IMD) in ET patients. Materials and Methods: we conducted a prospective, single-center, single-arm, pragmatic study in ET patients with an extended safety study to evaluate the efficacy and safety of the Vilim Ball—a local hand-arm vibration device that produces vibrations in the frequency range of 8–18 Hz and amplitude from 0 to 2 mm. The primary endpoint was the decrease in the power spectrum after device use. The secondary endpoints were safety outcomes. Results: In total, 17 patients with ET were included in the main study, and no patients withdrew from the main study. The tremor power spectrum (m2/s3 Hz) was lower after the device use, represented as the mean (standard deviation): 0.106 (0.221); median (Md) 0.009 with the interquartile range; IQR, 0.087 vs. 0.042 (0.078); Md = 0.009 with the IQR 0.012; Wilcoxon signed-rank test V = 123; and p = 0.027. Seven patients reported that vibrational therapy was not effective. Two patients reported an increase in tremor after using the device. In the extended safety study, we included 51 patients: 31 patients with ET and 20 with Parkinsonian tremor, where 48 patients reported an improvement in tremor symptoms and 49 in function. No serious adverse events were reported, while two patients in the Parkinsonian tremor group reported a lack of efficacy of the proposed medical device. Conclusions: the device reduces essential tremor in some patients and is safe to use in ET.

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Section: Discussionmentioning

confidence: 99%

Local Vibrational Therapy for Essential Tremor Reduction: A Clinical Study

et al. 2020

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“…Usual EMG based, AAN control implemented in exoskeletons may receive wrong input commands due to tremor and therefore generate erroneous motions. Therefore, Kiguchi et al, have developed an AAN control method for a 7 DOF upper limb assistive exoskeleton which suppresses tremor [96]. The vibration due to tremor is reduced by the application of the pseudo-inverse matrix's null space together with the location of hand and tool.…”

Section: Controlmentioning

confidence: 99%

State-of-the-Art Assistive Powered Upper Limb Exoskeletons for Elderly

2020

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The number of older people is growing rapidly around the world. Ageing process results in reduced or restricted mobility which is essential to perform activities of daily living. Currently, there are numerous powered assistive exoskeletons commercially available as well as are being developed to support and rehabilitate lower limbs. Significant attention is also been given to develop upper limb rehabilitation devices, however the question of what kind of assistive devices can be used by elderly group of people for their upper limbs and what technical characteristics they should incorporate is not properly researched. This paper presents the state of the art of currently available assistive exoskeletons which can be exploited to support the motions of upper limbs of elderly to perform activities of daily living. Mechanism type, degrees of freedom, type actuators and materials selected for the fabrication of these porotypes are presented in detail. Also, the type of control systems utilized for these upper limb exoskeletons are discussed in detail with the insight on the feedback signal methods. A detailed discussion on the challenges in the fields of mechanism development, actuation and control for these upper limb powered exoskeletons is presented with the opportunities for future technological developments.

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“…Several control strategies exist for orthoses and FES to suppress tremor. In the case of orthoses, tremor can be attenuated by applying impedance control [9] [32] or generating the counterphase force of a tremor with electric motors [10]. By modulating the impedance of the humanmachine interface, impedance control was suggested to be an alternative way to achieve tremor reduction [32].…”

Section: Introductionmentioning

confidence: 99%

Tremor Suppression With Mechanical Vibration Stimulation

2020

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Tremor, which is one of the most common movement disorders, is a repetitive movement that is caused by periodic muscle contraction and relaxation. To suppress tremors of upper-limb tremor patients, such as essential tremor (ET) patients, many kinds of devices have been developed. On the other hand, when mechanical vibration stimulation is applied to a human muscle, sustained muscle contraction, which is referred to as the tonic vibration reflex (TVR), is induced in the stimulated muscle. In this study, a novel tremor suppression method that utilizes the periodic TVR to induce muscle contraction/relaxation to generate the counterphase motion of the ET is proposed and applied to the forearm pronation-supination ET. In the proposed method, periodic vibration stimulation is applied to generate the periodic TVR in the pronator teres muscle and/or supinator muscle. First, the results confirmed that the TVR can be induced by applying mechanical vibration stimulation to the pronator teres muscle and supinator muscle since the forearm pronation-supination tremor is one of the key features of the ET. Furthermore, the findings also confirmed that the TVR intensity that is induced in these muscles can be adjusted by changing the vibration stimulation frequency. Second, the results show that the counterphase motion of the ET (i.e., periodic pronation-supination motion) can be generated by applying the proposed method. The effectiveness of the proposed method for tremor suppression is evaluated by comparing the generated motion with the ET motion.

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Upper-limb tremor suppression with a 7DOF exoskeleton power-assist robot

Cited by 11 publications

References 13 publications

Local Vibrational Therapy for Essential Tremor Reduction: A Clinical Study

Local Vibrational Therapy for Essential Tremor Reduction: A Clinical Study

State-of-the-Art Assistive Powered Upper Limb Exoskeletons for Elderly

Tremor Suppression With Mechanical Vibration Stimulation

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