Design and validation of a novel mechatronic transmission system for a wearable tremor suppression device

Abstract

Traditional treatments, medication and surgery, for tremor management in Parkinson’s disease have shown varying effectiveness carry a risk of significant side effects. Recent research and development of wearable tremor suppression technology have shown a promising third solution for tremor management. This paper presents the design of a novel multi-channel mechatronic splitter (MMS) for use in wearable tremor suppression devices. This mechatronic system allows a single drive motor to support multiple independent outputs. The operation (speed and direction) of the MMS is controlled by a 2 W DC motor. This low power characteristic may provide a promising approach to achieving a prolonged operating life for wearable devices. Furthermore, the size of the MMS can be scaled proportionally according to different applications for optimal performance. This paper describes the design, modeling, implementation and characterization of the MMS. The weight of the MMS prototype is 129 g, the maximum output speed is 120 rpm, and the maximum continuous torque is 0.15 Nm. In addition, recorded tremor motion along with voluntary movement from 7 individuals with Parkinson’s disease was used to validate the performance of the MMS. The MMS was controlled to suppress tremor motion while following the voluntary movement of the subject. An average of 12.4% RMS error in voluntary motion tracking was achieved on a dynamic tremor suppression test.