Design and Preliminary Testing of a Handheld Antagonistic SMA Actuator for Cancellation of Human Tremor

机译：消除人体震颤的手持式拮抗SMA执行器的设计和初步测试

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Essential Tremor is a debilitating disorder that in the US alone is estimated to affect up to ten million people. Unfortunately current treatments (i.e. drug therapy and surgical procedures), are limited in effectiveness and often pose a risk of adverse side-effects. In response to this problem, this paper describes an active cancellation device based on a hand-held Shape Memory Alloy (SMA) actuated stabilization platform. The assistive device is designed to hold and stabilize various objects (e.g. eating utensils, tools, pointing implements, etc.) by sensing the user's tremor and moving the object in an opposite direction using SMA actuators configured in biologically inspired antagonistic pairs. To aid in the design, performance prediction and control of the device, a device model is described that accounts for the device kinematics, SMA thermo-mechanics, and the heat transfer resulting from electrical heating and convective cooling. The system of differential equations in this device model coupled with the controller gain can be utilized to design the operation given a frequency range and power requirement. To demonstrate this, a prototype was built and experimentally tested under external disturbances in the range of 1-5 Hz, resulting in amplitude reduction of up to 80%. The extent of cancellation measured for both single-frequencies and actual human tremor disturbances demonstrate the promise of this approach as a broadly used assistive device for the multitudes afflicted by tremor.

机译：原发性震颤是一种令人衰弱的疾病，仅在美国，据估计会影响多达1000万人。不幸的是，目前的治疗（即药物治疗和外科手术）效果有限，并且常常具有不良副作用的风险。针对这一问题，本文介绍了一种基于手持式形状记忆合金（SMA）驱动的稳定平台的主动抵消装置。辅助设备设计为通过感测用户的震颤并使用配置成生物学启发的对抗对中的SMA致动器沿相反方向移动对象，来固定并稳定各种对象（例如，饮食用具，工具，指示工具等）。为了帮助设备的设计，性能预测和控制，描述了一种设备模型，该模型考虑了设备运动学，SMA热力学以及电加热和对流冷却产生的热传递。在给定频率范围和功率要求的情况下，该设备模型中的微分方程系统与控制器增益一起可用于设计操作。为了证明这一点，我们制造了一个原型，并在1-5 Hz范围内的外部干扰下进行了实验测试，结果幅度降低了80％。对于单频和实际人为震颤干扰测得的抵消程度证明了这种方法的前景，因为它是广泛用于震颤患者的辅助工具。

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《Conference on Active and passive smart structures and integrated systems; 20090309-12; San Diego, CA(US)》|2009年|P.72881B.1-72881B.13|共13页
会议地点 San Diego CA(US)
作者
Anupam Pathak; Diann Brei; Jonathan Luntz;
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作者单位

Mechanical Engineering, University of Michigan 2250 G. G. Brown, Ann Arbor, MI 48109-2125;

Mechanical Engineering, University of Michigan 2250 G. G. Brown, Ann Arbor, MI 48109-2125;

Mechanical Engineering, University of Michigan 2250 G. G. Brown, Ann Arbor;

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原文格式 PDF
正文语种 eng
中图分类系统科学;
关键词
human tremor cancellation; shape memory alloy; medical devices; active cancellation;

机译：人震消除;形状记忆合金;医疗器械;主动消除;

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Design and Preliminary Testing of a Handheld Antagonistic SMA Actuator for Cancellation of Human Tremor

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