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Towards a Modular Pathological Tremor Simulation System Based on the Stewart Platform.

Jair Fajardo¹, Leonimer Flávio de Melo²

¹Federal Institute of Paraná, Assis Chateaubriand Campus, Assis Chateaubriand 85935-000, Brazil.

Sensors (Basel, Switzerland)

|November 25, 2023

Summary

This study developed a robotic simulator to accurately replicate Parkinson's disease resting tremors. This advancement allows for testing wearable tremor suppression devices without patient involvement, accelerating innovation.

Keywords:

Kalman filter Parkinson’s disease assistive technologies multibody dynamics sensor fusion systems modeling tremor simulation wearable devices

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Area of Science:

Biomedical Engineering
Robotics
Neurology

Background:

Wearable technologies aim to reduce pathological tremors by identifying and suppressing involuntary movements.
Current development of these devices is hindered by the difficulty of simulating tremors accurately for testing.

Purpose of the Study:

To develop a robotic manipulator based on the Stewart platform to simulate resting tremors characteristic of Parkinson's disease.
To create a computational simulation environment for testing tremor suppression technologies.

Main Methods:

A Stewart platform-based robotic manipulator was designed using SOLIDWORKS and simulated in Matlab/Simulink.
The multibody dynamics method and Kalman filter were employed to process patient data and drive the simulator.
Workspace evaluation and correlation analysis between real and simulated patient data were performed.

Main Results:

The robotic simulator accurately replicated Parkinson's disease resting tremors in all wrist movements.
A high correlation and low dispersion were observed between real patient tremor data and the simulated signals.
The simulation effectively converted patient wrist acceleration and angular velocity data into realistic tremor movements.

Conclusions:

The developed robotic simulator can reliably represent Parkinson's disease resting tremors.
This system facilitates the testing of wearable tremor suppression devices without requiring patient participation.
The simulator aids in comparing different suppression techniques, thereby advancing the development of novel wearable solutions.