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Designing controllers for hand tremor suppression using model simplification
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DOI：10.1016/j.bspc.2024.106483.png)
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摘要
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Hand tremors (HT) are common involuntary shaking movements of the hand. The development of a method for its suppression is a serious concern for researchers and medical practitioners. Currently, managing tremors involves lifestyle adjustments, medication, or surgery. However, these treatments have drawbacks. Long-term use of medication often leads to negative side effects, and its effectiveness diminishes over time. Surgical interventions like deep brain stimulation (invasive) or thalamotomy (non-invasive) are expensive, risky, and can result in irreversible brain lesions. As a result, alternative therapies have been developed. The mathematical models of HT systems that play a significant role in the development of tremor suppression devices, controllers, and other interventions are complex and of high dimension. Designing controllers for such models becomes tedious and costly. It is, therefore, obvious to develop a procedure that tackles these issues and reduces cost and complexity. For this purpose, a model simplification -based method has been proposed herein. In the proposed method, a lower -dimensional biodynamic model (LDBM) of order l is derived from a higherdimensional biodynamical system (HDBS) of order h . A PID controller is obtained for this LDBM, which is subsequently applied to the HDBS. The improved Routh-Pad & eacute; simplification method is used for finding LDBM in which first l time moments (TM)/Markov parameter (MP) of HDBS are retained in LDBM and errors between the set of next TM/MP of the HDBS and LDBM are minimized using Luss-Jaakola (LJ) optimization algorithm. The effectiveness of the present method has been confirmed by an illustrative example.
Keyword:
Hand tremor suppression
PID controller
Model simplification
Routh-Pad & eacute
approximation
期刊
IF:
4.9
论文数:
1.0W
被引数:
2.4W
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