AUTOTUNING OF A PID CONTROLLER FOR AN ACTIVE VIBRATION SUPPRESSION DEVICE FOR THE TREATMENT OF ESSENTIAL TREMOR

Essential Tremor (ET) is a motion disorder which affects as many as one in 20-25 adults over the age of 40 [1]. Leblanc [2] proposed a device which consists of four linear actuators attached to a patient's wrist in an effort to actively suppress the tremor. This paper demonstrates experimentally a simplified version of that device. The system was tested on a stand designed to simulate an adult lower arm with a tremor in the horizontal plane. A single linear inertial actuator was attached to the "wrist" of the test stand. An accelerometer attached on the opposite side of the arm provided feedback to the controller. This paper demonstrates this system operating to produce 20%-60% vibration reduction in the 6-13 Hz bandwidth.© 2006 ASME

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