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World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Development of tremor-suppression filter for meal-assist robot
Salt Lake City, UT, USA
March 18-March 20
ISBN: 978-1-4244-3858-7
Eiichi Ohara, Gifu University, Japan
Ken'ichi Yano, Gifu University, Japan
Satoshi Horihata, Nihon University, Japan
Takaaki Aoki, Gifu University, Japan
Yutaka Nishimoto, Gifu University, Japan
A robot that supports independent living by assisting with eating and other activities involving the use of the hand using the operator's own hand would be helpful for people suffering from tremors of the hand or any other body part. In this study, the proposed adaptive filter estimates tremor frequency with a time-varying property and individual differences online, and insulates the voluntary motion signal from the sensor signal containing tremor components. As a result, the developed human-machine interface makes it possible for the person with a tremor to manipulate the supporting robot without causing operability to deteriorate and without hazards due to improper operation.
Citation:
Eiichi Ohara, Ken'ichi Yano, Satoshi Horihata, Takaaki Aoki, Yutaka Nishimoto, "Development of tremor-suppression filter for meal-assist robot," whc, pp.238-243, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009
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