Measurement of forearm’s viscoelastic distribution for tremor suppression robot design

Kawasaki Motoji, Tsukune Mariko, Matsumoto Yuya, Seki Masatoshi, Kobayashi Yo, Miyashita Tomoyuki, Fujie Masakatsu G.

doi:10.24462/jnse.3.1_31

We focused on viscoelasticity of soft biological tissue as a quantitative index to design a wearable tremor suppressing robot frame with high suppression capability. We propose a design method for the robot frame that select parts having high viscosity in the forearm as positions where the robot frame is attached, because high viscosity have the potential to suppress tremor. In this research, we use phase shift between displacement and reaction force from the soft biological tissue as an indicator of viscoelasticity based on forced oscillation model of soft biological tissue by tremor, and investigate the viscoelasticity distribution on a palm side of the forearm in three younger subjects. Additionally, we observed the correlation of the distribution between the subjects and the anatomical features with an ultrasonograph. As a result, proximal part from the elbow with thick aponeurosis had resembled distribution and showed minimum phase shift of 2.03［°］, therefore this part is not suitable for suppressing. Distal part from the elbow showed maximum phase shift of 10.9［°］, therefore this part is suitable for suppressing, but showed individual distribution. We will develop the individualized design method of the robot frame using these results.

Measurement of forearm’s viscoelastic distribution for tremor suppression robot design

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