Safe tremor suppression through arm movement control

Among aging populations, tremors are becoming an ever greater barrier to autonomy. The purpose of this study is to design a tremor suppressing robotic system for the human arm. This system is designed to be linked to the back of the user's hand using a magnetic link, preventing the user from being hurt should the system be subject to malfunction. The presented control law consists of a velocity-force hybrid control using the computed torque method. Results show the tremors attenuation capability but highlight a minor delay in the motion's transmission.