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Carnegie Mellon Robotics Institute

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Abstract

Pathological tremor is suppressed during glove-based dextrous teleoperation using the Weighted-frequency Fourier Linear Combiner algorithm. This is a computationally inexpensive approach which models the tremor and subtracts it out of the incoming command signal. By suppressing the tremor, RMS error was decreased by 57% in tests combining tremor with a simulated grasping motion.

Notes

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Text Reference

Cameron Riviere and N. V. Thakor, "Suppressing pathological tremor during dextrous teleoperation," Proceedings of the 17th Annual Conference of the IEEE Engineering in Medicine and Biology Society, September, 1995, pp. 1195 - 1196.

BibTeX Reference

@inproceedings{Riviere_1995_1264,
   author = "Cameron Riviere and N. V. Thakor",
   title = "Suppressing pathological tremor during dextrous teleoperation",
   booktitle = "Proceedings of the 17th Annual Conference of the IEEE Engineering in Medicine and Biology Society",
   pages = "1195 - 1196",
   month = "September",
   year = "1995",
   volume = "2",
}

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