Abstract
Accurate filtering of physiological tremor is extremely important in robotics assisted surgical instruments and procedures. This paper focuses on developing single stage robust algorithms for accurate tremor filtering with accelerometers for real-time applications. Existing methods rely on estimating the tremor under the assumption that it has a single dominant frequency. Our time-frequency analysis on physiological tremor data revealed that tremor contains multiple dominant frequencies over the entire duration rather than a single dominant frequency. In this paper, the existing methods for tremor filtering are reviewed and two improved algorithms are presented. A comparative study is conducted on all the estimation methods with tremor data from microsurgeons and novice subjects under different conditions. Our results showed that the new improved algorithms performed better than the existing algorithms for tremor estimation. A procedure to separate the intended motion/drift from the tremor component is formulated.
Highlights
Tremor is defined as “a rhythmic, involuntary movement of a body part” [1,2]
Weighted Fourier Linear Combiner (WFLC) [20] and Weighted-frequency Fourier linear combiner (WFLC)-Kalman filters [7] rely on single frequency estimation, whereas Bandlimited
We first discuss the separation of voluntary motion with Band limited multiple Fourier linear combiner (BMFLC)-Kalman filter on the raw data recorded during our trails and later compare the performance of all algorithms on the filtered data
Summary
Tremor is defined as “a rhythmic, involuntary movement of a body part” [1,2]. Tremor exists in all humans in small magnitude and is considered as physiological tremor. Sensors 2011, 11 with very disabling forms of tremor caused by movement disorders called as pathological tremors. Pathological tremor can be classified into three categories: rest, postural and kinetic tremor [2]. Physiological tremor has different aetiology compared to pathological tremor and manifests differently in terms of amplitude and frequency [3,4,5]
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
