CN107693021A - Suppress hand tremble motion suppression shake gloves and suppression shake control method - Google Patents
Suppress hand tremble motion suppression shake gloves and suppression shake control method Download PDFInfo
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1101—Detecting tremor
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- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
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Abstract
The present invention propose suppress hand tremble motion suppression shake gloves, including gloves, tremble restraining device, the restraining device that trembles is installed on the position for corresponding to human hand the back of the hand on gloves, the restraining device that trembles includes signal gathering unit, signal processing unit, trembling suppresses signal generating unit, the output end of the signal gathering unit and the input of signal processing unit are electrically connected, and the input of the output end of the signal processing unit and the suppression signal generating unit that trembles is electrically connected.The present invention, which proposes, to be suppressed hand and trembles the suppression shake method of motion, including is obtained hand and trembled the first frequency of motion；Based on the first frequency produce corresponding to first tremble and suppress signal, trembled based on described first and suppress signal and provide to hand to tremble motion to suppress hand with hand motion opposite effect power of trembling.A kind of hand that suppresses provided by the invention trembles the suppression shake gloves and suppression shake control method of motion, and small volume, light weight, it is convenient to wear, and is easy to use.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a vibration suppression glove for suppressing hand tremor movement and a vibration suppression control method.
Background
Tremor is an involuntary, rhythmic, approximately periodic limb movement that is clinically manifested as involuntary, rhythmic, approximately periodic limb movement of a patient. Investigations have shown that tremors of varying degrees are present in about 10% of the general population and in about 40% of elderly people. Tremor is caused by a variety of diseases, and parkinson's disease is one of the common causes. Tremor is mostly seen in the four limbs, especially the hands of people, and the hands play an important role in the normal life of people, especially the fine movements in the life of people: such as writing, grasping, carrying, dining and the like, the daily life, life and social interaction of patients are greatly influenced when tremor is serious, and 65 percent of tremor patients can not even carry out normal life.
In the medical field, tremor has been studied domestically and abroad for many years, but the motion mechanism of most types of tremor is not clear, and tremor brings inconvenience to daily life of patients such as fine movement, writing and dining and the like, and cannot be overcome in a short time. Clinical symptoms of patients can be relieved by medication for a while, but the worsening of the disease cannot be prevented, and the problem of drug resistance needs to be taken for a long time.
Researches show that the tremor movement can be effectively inhibited through biological material loading, functional neuromuscular electrical stimulation, daily rehabilitation training and the like. The method is characterized in that the damping of the arm of the patient is increased through external loads, and the method designs an upper limb exoskeleton robot to inhibit tremor through designing a complex mechanical structure, so that the use and the wearing are inconvenient. The functional electric stimulation tremor suppression method is characterized in that muscle control signals of different movement parts of a human body are detected to correspondingly generate a suppression signal. Myoelectric signals of each subdivided muscle function group of a human body are difficult to collect, are easy to be interfered by the outside, and are particularly important in accurate wearing positions.
The human hand tremor suppression device in the prior art has the following defects: 1. the wearable exoskeleton robot has the advantages that the tremor suppression device is too large in size and mass, the arm strength of a tremor patient is generally weak, and when the wearable exoskeleton robot is worn, the device can suppress arm tremor, but the device also causes great burden to a user; 2. the hand is used as an executive organ of a plurality of fine functions of the human body, and no related report is provided for a wearable device for hand tremor suppression.
Disclosure of Invention
In order to solve the problems, the invention provides a vibration suppression glove for suppressing hand tremor movement and a vibration suppression control method. The vibration suppression glove for suppressing hand tremor movement and the vibration suppression control method provided by the invention have the advantages of small volume, light weight, convenience in wearing and convenience in use.
The technical scheme adopted by the invention is as follows:
restrain tremble gloves of suppressing hand tremble motion, including gloves, tremble suppression device installs the position corresponding to the staff back of the hand on gloves, tremble suppression device is including the signal acquisition unit that is used for gathering hand motion signal, be used for receiving the signal that signal acquisition unit gathered and handle then control tremble suppression signal generation unit produce tremble suppression signal's signal processing unit, produce axial inertia's tremble suppression signal generation unit to it, signal acquisition unit's output and signal processing unit's input electrical connection, signal processing unit's output and tremble suppression signal generation unit's input electrical connection.
The vibration suppression glove for suppressing the hand vibration motion comprises a signal processing unit, a vibration suppression device and a vibration suppression signal generation unit, wherein the vibration suppression device further comprises a PID controller, the output end of the signal processing unit is electrically connected with the input end of the PID controller, and the output end of the PID controller is electrically connected with the input end of the vibration suppression signal generation unit.
The vibration suppression glove for suppressing the hand vibration motion comprises a signal processing unit, a PID controller and a vibration suppression device, wherein the vibration suppression device further comprises a Kalman filter, the output end of the signal processing unit is connected with the input end of the Kalman filter, and the output end of the Kalman filter is electrically connected with the input end of the PID controller.
The vibration suppression glove for suppressing the tremor motion of the hand comprises a signal acquisition unit and a signal processing unit, wherein the signal acquisition unit is an acceleration sensor.
The vibration suppression glove for suppressing tremor of hands comprises an ARM microprocessor.
The vibration suppression method for suppressing the tremor movement of the hand comprises the following steps:
s1, acquiring a first frequency of hand tremor motion;
s2, judging whether the first frequency is lower than the threshold value, if yes, ending, if no, going to step S3;
and S3, generating a corresponding first tremor suppression signal based on the first frequency, and providing a force opposite to the hand tremor motion to the hand based on the first tremor suppression signal so as to suppress the hand tremor motion.
The vibration suppressing method for suppressing tremor movement of the hand further comprises:
s4, obtaining an estimated value and a measured value of a second frequency of hand tremor motion;
s5, acquiring a third frequency through a Kalman filter based on the estimated value and the measured value of the second frequency;
s6, judging whether the third frequency is lower than the threshold value, if yes, ending, if no, going to step S7;
and S7, generating a corresponding second tremor suppression signal based on the third frequency, and providing a force opposite to the current hand tremor motion to the hand based on the second tremor suppression signal so as to suppress the hand tremor motion.
The method for suppressing tremor of the hand includes dividing the frequency range of the tremor motion of the hand into a plurality of gears, and generating the corresponding first tremor suppression signal based on the first frequency includes determining the gear corresponding to the first frequency and generating the corresponding first tremor suppression signal based on the gear.
The vibration suppressing method for suppressing tremor of the hand, wherein the step S7 includes:
s71, judging whether the third frequency and the first frequency belong to the same gear, if so, the second tremor suppression signal is the same as the first tremor suppression signal; if not, go to S72;
and S72, judging a gear corresponding to the third frequency, generating a corresponding second tremor suppression signal based on the gear, and providing an acting force opposite to the current hand tremor motion to the hand based on the second tremor suppression signal to suppress the hand tremor motion.
In the method for suppressing tremor of the hand, the first tremor suppression signal is a moment of inertia perpendicular to the natural frequency of the hand.
In the method for suppressing tremor of the hand, the second tremor suppression signal is a moment of inertia perpendicular to the natural frequency of the hand.
According to the technical scheme, the vibration suppression gloves capable of suppressing hand tremor movement are convenient to wear by a method of loading a certain external suppression signal aiming at hand tremor dysfunction of a patient, and the patient feels a 'sticky feeling' in the hand movement process by applying a certain movement inertia to the hand movement of the patient, so that the tremor is eliminated or suppressed. The tremor signal of the hand is collected by the acceleration sensor, the normal motion signal and the tremor signal of the hand are distinguished, and when the tremor signal is detected, different tremor inhibition signals are generated according to the strength of the tremor signal.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a first embodiment of a vibration-suppressing glove of the present invention for suppressing tremor movements of the hand;
FIG. 2 is a block diagram of the tremor suppression device of the first embodiment of the tremor suppression glove of the present invention for suppressing tremor movements of the hand;
FIG. 3 is a block diagram of the tremor suppression device of the second embodiment of the tremor suppression glove of the present invention for suppressing tremor movements of the hand;
FIG. 4 is a block diagram of the tremor suppression device of the third embodiment of the tremor suppression glove of the present invention for suppressing tremor movements of the hand;
FIG. 5 is a flowchart illustrating a fourth embodiment of a method for suppressing tremor in the hand according to the present invention;
fig. 6 is a schematic flow chart of a fifth embodiment of the vibration suppressing method for suppressing tremor movements of hands according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
As shown in fig. 1, the vibration suppression glove for suppressing the tremor movement of the hand comprises a glove 10 and a tremor suppression device 20, wherein the tremor suppression device 20 is arranged on the glove 10 at a position corresponding to the back of the hand of the human. Tremor suppression device 20 is a tremor suppression strategy based on the motion signals of the human hand and not based on muscle group signals, and is thus a wearable device for hand tremor suppression.
As shown in fig. 2, the tremor suppression device 20 includes a signal acquisition unit 21, a signal processing unit 22, and a tremor suppression signal generation unit 23, wherein an output end of the signal acquisition unit 21 is electrically connected to an input end of the signal processing unit 22, and an output end of the signal processing unit 22 is electrically connected to an input end of the tremor suppression signal generation unit 23.
Wherein,
the signal acquisition unit 21 is used for acquiring signals of hand motion signals; in one embodiment, the signal acquisition unit 21 is preferably an acceleration sensor.
The signal processing unit 22 is used for receiving and processing the signals acquired by the signal acquisition unit and then controlling the tremor suppression signal generation unit to generate tremor suppression signals; in one embodiment, the signal processing unit 22 preferably includes, but is not limited to, an ARM microprocessor.
And a chattering suppressing signal generating unit 23 for generating an axial moment of inertia.
Example two
As shown in fig. 3, in the present embodiment, the difference from the first embodiment is that the tremor suppression device further includes a PID controller, the output terminal of the signal processing unit is electrically connected to the input terminal of the PID controller, and the output terminal of the PID controller is electrically connected to the input terminal of the tremor suppression signal generation unit.
EXAMPLE III
As shown in fig. 4, the present embodiment is different from the second embodiment in that the chattering suppressing device further includes a kalman filter, an output end of the signal processing unit is connected to an input end of the kalman filter, and an output end of the kalman filter is electrically connected to an input end of the PID controller.
Example four
As shown in fig. 5, in an embodiment, the tremor suppression method for suppressing tremor movements of the hand includes a method for automatically generating a tremor suppression strategy, which specifically includes the following steps:
s1, acquiring a first frequency of hand tremor motion; the first frequency is obtained when no tremor suppression signal is added during hand tremor movement;
tremor is a nearly periodic limb movement that can be approximated as a periodic sinusoidal signal.
Preferably, in one embodiment, when the hand starts to generate tremor movement, the signal acquisition unit preferably acquires the movement data of the tremor movement of the hand by the speed sensor,
acquiring a first frequency of hand tremor motion, wherein the first frequency is the frequency of original human hand tremor motion before applying tremor suppression strategy to a human hand, and a model F (t) ═ C Sin (2 pi n t) + noise (t) + A (t) is taken as a kinematic model of the human hand tremor motion and approximates to a periodic positive selection motion doped with a noise signal, wherein F (t) represents hand motion displacement; t represents a time signal; sin (2 π n t) represents a tremor signal with a period of n; noise (t) represents the tiny disturbance in the process of hand movement and the noise in the process of signal acquisition, and is treated as white noise; a (t) represents a normal motion signal of the human hand, which is a low-frequency signal and is approximately processed by a constant value.
The process of inhibiting the hand tremor signal is essentially a process of filtering a high-frequency signal of a mechanical wave, and simply achieves the purpose of reducing the frequency and the amplitude by applying a certain external moment of inertia. The filtering in the signal processing process is an operation of filtering out specific band frequencies in the signal, and the frequency characteristics in the circuit are utilized to realize the selection of the frequency components of the signal. The acceleration sensor is used for collecting hand motion signals, and the sampling frequency of the acceleration sensor is more than 30 times per second, so that the requirement of the system for frequency domain feature processing is met.
S2, judging whether the first frequency is lower than the threshold value, if yes, ending, if no, going to step S3;
in order to prevent the system from inhibiting the normal movement signal, the movement signal of the hand is detected by the acceleration sensor, and when the system detects that the movement signal is mainly the normal movement signal, the tremor inhibition signal is not generated.
According to the existing data base, the severity of human hand tremor is divided into slight tremor and severe tremor, wherein the tremor frequency of the slight tremor is between 3Hz-5Hz, and the tremor frequency of the severe tremor is between 6Hz-11 Hz. If the threshold is set at 3Hz or a value below 3Hz, the tremor suppression signal may not be generated.
And S3, generating a corresponding first tremor suppression signal based on the first frequency, and providing a force opposite to the hand tremor motion to the hand based on the first tremor suppression signal so as to suppress the hand tremor motion.
In one embodiment, the first tremor suppression signal is a moment of inertia perpendicular to a natural frequency corresponding to a human hand. During the movement of the hand, applying a natural frequency moment of inertia I perpendicular to the hand surface, wherein I w/r is-m dx/dt, and m represents mass and is constant; x represents a displacement; t represents time; r represents the motion radius of hand motion, and takes an arm or a wrist as the motion radius; w represents the rotational angular velocity of the hand movement during the rotational movement with radius r.
EXAMPLE five
As shown in fig. 6, in the present embodiment, the difference from the fourth embodiment is that the vibration suppressing method for suppressing tremor movement of the hand further includes steps S4-S7, which are as follows:
s1, acquiring a first frequency of hand tremor motion;
s2, judging whether the first frequency is lower than the threshold value, if yes, ending, if no, going to step S3;
s3, generating a corresponding first tremor suppression signal based on the first frequency, and providing a force opposite to the hand tremor motion to the hand based on the first tremor suppression signal to suppress the hand tremor motion;
s4, obtaining an estimated value and a measured value of a second frequency of hand tremor motion; the second frequency is based on the frequency of hand tremor motion of a human hand after receiving the first tremor suppression signal, the estimated value of the second frequency is based on the estimated frequency of the hand tremor motion of the human hand after receiving the first tremor suppression signal, the estimated value of the second frequency of the current acquisition period is based on the measured value of the first frequency or the second frequency of the previous acquisition period, and the estimated value of the second frequency of the current acquisition period is predicted by using a system process model; the measured value of the second frequency is based on an actual measured frequency of hand tremor movement after the human hand received the first tremor suppression signal.
And the estimated value and the measured value are used as input, the optimal value is calculated by using a Kalman filter and is used as the input of a PID filter, and therefore the stability design of the control system is realized. Systematic errors and noise signals can affect the gain of the Kalman filter in the optimization estimation process.
S5, acquiring a third frequency through a Kalman filter based on the estimated value and the measured value of the second frequency; the third frequency is the optimal frequency of the current hand tremor motion obtained by processing the estimated value and the measured value of the second frequency by the Kalman filter;
s6, judging whether the third frequency is lower than the threshold value, if yes, ending, if no, going to step S7;
and S7, generating a corresponding second tremor suppression signal based on the third frequency, and providing a force opposite to the current hand tremor motion to the hand based on the second tremor suppression signal so as to suppress the hand tremor motion.
The second tremor suppression signal has the same principle as the first tremor suppression signal and is a moment of inertia perpendicular to the natural frequency of the corresponding human hand.
EXAMPLE six
In this embodiment, the difference from the fourth embodiment is that the method for suppressing hand tremor motion further includes dividing the frequency range of the hand tremor motion into a plurality of gears, and step S3 further includes determining the gear corresponding to the first frequency, and generating a corresponding first tremor suppression signal based on the gear.
According to the existing data base, the severity of human hand tremor is divided into slight tremor and severe tremor, wherein the tremor frequency of the slight tremor is between 3Hz-5Hz, and the tremor frequency of the severe tremor is between 6Hz-11 Hz. If the tremor frequency is divided into six gears between 3Hz and 11Hz, the corresponding first tremor suppression signals are different between each gear, but each gear corresponds to a specific first tremor suppression signal, the step realizes that the gears corresponding to the frequency of different hand tremor motions generate the first tremor suppression signals to the human hand based on the PID controller.
EXAMPLE seven
In this embodiment, the difference from the fifth embodiment is that the vibration suppressing method for suppressing hand tremor motion further includes dividing the frequency range of hand tremor motion into several gears,
s1, acquiring a first frequency of hand tremor motion;
s2, judging whether the first frequency is lower than the threshold value, if yes, ending, if no, going to step S3;
s3, generating a corresponding first tremor suppression signal based on the first frequency, and providing a force opposite to the hand tremor motion to the hand based on the first tremor suppression signal to suppress the hand tremor motion;
s4, obtaining an estimated value and a measured value of a second frequency of hand tremor motion; the second frequency is based on the frequency of hand tremor motion of a human hand after receiving the first tremor suppression signal, the estimated value of the second frequency is based on the estimated frequency of the hand tremor motion of the human hand after receiving the first tremor suppression signal, the estimated value of the second frequency of the current acquisition period is based on the measured value of the first frequency or the second frequency of the previous acquisition period, and the estimated value of the second frequency of the current acquisition period is predicted by using a system process model; the measured value of the second frequency is based on an actual measured frequency of hand tremor movement after the human hand received the first tremor suppression signal.
And the estimated value and the measured value are used as input, the optimal value is calculated by using a Kalman filter and is used as the input of a PID filter, and therefore the stability design of the control system is realized. Systematic errors and noise signals can affect the gain of the Kalman filter in the optimization estimation process.
S5, acquiring a third frequency through a Kalman filter based on the estimated value and the measured value of the second frequency; and the third frequency is the optimal frequency of the current hand tremor motion obtained by processing the estimated value and the measured value of the second frequency by the Kalman filter.
In the embodiment method, a discrete inhibition signal generation strategy is adopted, and the phenomenon that the second tremor inhibition signal overturns between two gears exists, so that a Kalman filter is introduced to reduce the noise signal and the control interference of the system, and the second tremor inhibition signal provided by the embodiment method can quickly enter a stable state.
S6, judging whether the third frequency is lower than the threshold value, if yes, ending, if no, going to step S7;
s71, judging whether the third frequency and the first frequency belong to the same gear, if so, the second tremor suppression signal is the same as the first tremor suppression signal; if not, go to S72; the second tremor suppression signal is generated based on the third frequency, and provides an acting force opposite to the current hand tremor motion to the hand based on the second tremor suppression signal so as to suppress the hand tremor motion.
And S72, judging a gear corresponding to the third frequency, generating a corresponding second tremor suppression signal based on the gear, and providing an acting force opposite to the current hand tremor motion to the hand based on the second tremor suppression signal to suppress the hand tremor motion.
The second tremor suppression signal has the same principle as the first tremor suppression signal and is a moment of inertia perpendicular to the natural frequency of the corresponding human hand.
Example eight
The method for suppressing tremor of the hand provided by the embodiment comprises the following steps of manually setting a tremor suppression strategy: the tremor suppression function is automatically generated, hand tremor movement signals are not collected, and tremor suppression signal intensity is artificially set through buttons, for example, different gears from the first gear to the sixth gear correspond to different tremor suppression signal intensities.
In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Program instructions which invoke the methods of the present application may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the present application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or a solution according to the aforementioned embodiments of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
It will, of course, be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (11)
1. Restrain and shake gloves of suppressing hand tremor motion, its characterized in that, including gloves, tremor suppression device installs the position that corresponds to the hand back of the hand on gloves, tremor suppression device is including the signal acquisition unit that is used for gathering hand motion signal, the signal that is used for receiving signal acquisition unit to gather and handle it then control the tremor and suppress signal generation unit and produce the signal processing unit of tremor suppression signal, produce the tremor suppression signal generation unit of axial inertia, the output of signal acquisition unit and the input electrical connection of signal processing unit, the output of signal processing unit and the input electrical connection of tremor suppression signal generation unit.
2. The vibration suppression glove for suppressing hand tremor movement of claim 1, wherein the tremor suppression device further comprises a PID controller, the output end of the signal processing unit is electrically connected with the input end of the PID controller, and the output end of the PID controller is electrically connected with the input end of the tremor suppression signal generation unit.
3. The vibration suppression glove for suppressing hand tremor movement of claim 2, wherein the tremor suppression device further comprises a kalman filter, the output of the signal processing unit is connected to the input of the kalman filter, and the output of the kalman filter is electrically connected to the input of the PID controller.
4. The vibration suppressing glove for suppressing tremor movement of the hand according to any of claims 1-3, wherein the signal acquisition unit is an acceleration sensor.
5. The vibration suppressing glove for suppressing tremor movement of the hand of claim 4, wherein the signal processing unit includes an ARM microprocessor.
6. The vibration suppression method for suppressing the tremor movement of the hand is characterized by comprising the following steps of:
s1, acquiring a first frequency of hand tremor motion;
s2, judging whether the first frequency is lower than the threshold value, if yes, ending, if no, going to step S3;
and S3, generating a corresponding first tremor suppression signal based on the first frequency, and providing a force opposite to the hand tremor motion to the hand based on the first tremor suppression signal so as to suppress the hand tremor motion.
7. The method of suppressing hand tremor motion of claim 6, further comprising:
s4, obtaining an estimated value and a measured value of a second frequency of hand tremor motion;
s5, acquiring a third frequency through a Kalman filter based on the estimated value and the measured value of the second frequency;
s6, judging whether the third frequency is lower than the threshold value, if yes, ending, if no, going to step S7;
and S7, generating a corresponding second tremor suppression signal based on the third frequency, and providing a force opposite to the current hand tremor motion to the hand based on the second tremor suppression signal so as to suppress the hand tremor motion.
8. The method of suppressing hand tremor motion of claim 7, further comprising dividing the frequency range of hand tremor motion into a number of steps, and wherein said generating a corresponding first tremor suppression signal based on said first frequency comprises said determining the step corresponding to said first frequency based on which the corresponding first tremor suppression signal is generated.
9. The method for suppressing tremor of the hand of claim 8, wherein said step S7 includes:
s71, judging whether the third frequency and the first frequency belong to the same gear, if so, the second tremor suppression signal is the same as the first tremor suppression signal; if not, go to S72;
and S72, judging a gear corresponding to the third frequency, generating a corresponding second tremor suppression signal based on the gear, and providing an acting force opposite to the current hand tremor motion to the hand based on the second tremor suppression signal to suppress the hand tremor motion.
10. A method of suppressing tremor movement of the hands according to any of claims 6-9, in which the first tremor suppression signal is a moment of inertia perpendicular to the natural frequency corresponding to the human hand surface.
11. A method of suppressing tremor movement of the hands according to any of claims 7-9, in which the second tremor suppression signal is a moment of inertia perpendicular to the natural frequency corresponding to the human hand surface.
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| CN201710824236.0A CN107693021A (en) | 2017-09-13 | 2017-09-13 | Suppress hand tremble motion suppression shake gloves and suppression shake control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710824236.0A CN107693021A (en) | 2017-09-13 | 2017-09-13 | Suppress hand tremble motion suppression shake gloves and suppression shake control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108477711A (en) * | 2018-04-25 | 2018-09-04 | 王从相 | One kind is trembled auxiliary treatment gloves |
| CN108582155A (en) * | 2018-04-16 | 2018-09-28 | 西北工业大学 | It is a kind of that there is the mechanical arm for pressing down function of quivering |
| CN112690935A (en) * | 2020-12-04 | 2021-04-23 | 中国矿业大学 | Finger joint tremor suppression device based on magnetorheological fluid |
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| CN206434707U (en) * | 2016-08-06 | 2017-08-25 | 深圳市前海安测信息技术有限公司 | For mitigating the Intelligent bracelet that Parkinsonian's hand trembles |
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| CN104127187A (en) * | 2014-08-05 | 2014-11-05 | 戴厚德 | Wearable system and method for cardinal symptom quantitative detection of Parkinson patients |
| CN206434707U (en) * | 2016-08-06 | 2017-08-25 | 深圳市前海安测信息技术有限公司 | For mitigating the Intelligent bracelet that Parkinsonian's hand trembles |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108582155A (en) * | 2018-04-16 | 2018-09-28 | 西北工业大学 | It is a kind of that there is the mechanical arm for pressing down function of quivering |
| CN108477711A (en) * | 2018-04-25 | 2018-09-04 | 王从相 | One kind is trembled auxiliary treatment gloves |
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