Tremor Suppression Through Force Feedback

Stephen Pledgie1, Kenneth Barner2, Sunil Agrawa3
University of Delaware
Newark, Delaware 19716

Tariq Rahman4
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.

1Biomechanics and Movement Science Program
2Department of Computer and Electrical Engineering
3Department of Mechanical Engineering
4Extended Manipulation Laboratory

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Last modified: Thu Jan 21 10:38:39 PST 1999