Stephen Pledgie1, Kenneth Barner2, Sunil Agrawa3
University of Delaware
Newark, Delaware 19716
duPont Hospital for Children
Wilmington, Delaware 19899
This paper presents a method for designing non-adaptive force feedback tremor suppression systems that achieve a specified reduction in tremor energy. Position, rate, and acceleration feedback are examined and two techniques for the selection of feedback coefficients are discussed. Both techniques require the development of open-loop human-machine models through system identification.
It is demonstrated that non-adaptive force feedback tremor suppression systems can be successfully designed when accurate open-loop human-machine models are available.