Design and analysis of human arm pathological tremor simulation system_Journal of Biomedical Engineering

Authors：

HE Zixin ¹ ,  LIU Haiping ^1,2 , LIU Qingsheng ¹ , JIANG Yu ^3,4,5 , ZHU Zhu ⁶

1. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, P. R. China;
2. Shunde Graduate School, University of Science and Technology Beijing, Foshan, Guangdong 528300, P. R. China;
3. Department of Orthopaedics, Peking University Third Hospital, Beijing 100191, P. R. China;
4. Engineering Research Center of Bone and Joint Precision Medicine, Beijing 100191, P. R. China;
5. Beijing Key Laboratory of Spinal Disease, Beijing, 100191, P. R. China;
6. School of Mechanical Engineering, North University of China, Taiyuan 030051, P. R. China;

Corresponding author：

LIU Haiping, Email: liuhaiping@ustb.edu.cn

Keywords：

Pathological tremor; Two degrees of freedom; Arm model; Joint response

DOI：

10.7507/1001-5515.202412025

Video：

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In order to characterize the characteristics of pathological tremor of human upper limb, a simulation system of pathological tremor of human arm was provided and its dynamic response was analyzed. Firstly, in this study, a two-degree-of-freedom human arm dynamic model was established and linearized according to the arbitrary initial angle of joints. After solving the analytical solution of steady-state responses of the joints, the numerical solution was used to verify it. The results of theoretical analysis show that the two natural frequencies of the developed dynamic model are 2.9 Hz and 5.4 Hz, respectively, which meet the characteristic frequency range of pathological tremors. Then, combined with the measured parameters of human arm, a tremor simulation system was built, and the measured results of joint responses are in good agreement with the theoretical and simulation analysis results, which verifies the effectiveness of the theoretical model. The results show that the human arm pathological tremor simulation system designed in this paper can characterize the frequency and response amplitude of the human upper limb pathological tremor. Moreover, the relevant research lays a theoretical foundation and experimental conditions for the subsequent development of wearable tremor suppression devices.

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4.	Ou Z, Pan J, Tang S, et al. Global trends in the incidence, prevalence, and years lived with disability of Parkinson's disease in 204 countries/territories from 1990 to 2019. Front Public Health, 2021, 9: 776847.
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19.	李军强, 王娟, 高永生. 抑制震颤机器人抑震试验系统研究. 机械设计与制造, 2012, 4: 165-167.
20.	董必成, 董玉革, 孙建, 等. 两自由度人体手臂震颤模拟平台设计及性能分析. 机械设计与制造, 2014, 8: 55-57, 61.
21.	Zhou Y, Ibrahim A, Jenkins M E, et al. Analysis of the effect of common disturbances on the safety of a wearable tremor suppression device. IEEE Rob Autom, 2021, 6(2): 2846-2853.
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23.	Wen J F, Wang G, Jia J C, et al. Compliance control method for robot joint with variable stiffness. Int J Hydro mechatronics, 6(1): 45-58.
24.	刘海平, 刘庆生, 韩东航, 等. 人体手臂静止性震颤的负刚度吸振效果研究. 湖南大学学报(自然科学版), 2024, 51(2): 227-235.
25.	Gebai S. Optimization of passive cantilever-type tuned mass damper to reduce the hand postural tremor. France: Université Paris-Est, 2020.
26.	Gates D H, Walters L S, Cowley J, et al. Range of motion requirements for upper-limb activities of daily living. Am J Occup Ther, 2016, 70(1): 7001350010.
27.	Doğan M, Koçak M, Onursal Kılınç Ö, et al. Functional range of motion in the upper extremity and trunk joints: nine functional everyday tasks with inertial sensors. Gait Posture, 2019, 70: 141-147.
28.	Gebai S, Hammoud M, Khachfe H. Parametric study of an enhanced passive absorber used for tremor suppression. Struct Control Health Monit, 2018, 25(7): e2177.

1. Bhidayasiri R. Differential diagnosis of common tremor syndromes. Postgrad Med J, 2005, 81(962): 756-762.
2. Louis E D, Ferreira J J. How common is the most common adult movement disorder? Update on the worldwide prevalence of essential tremor. Movement Disord, 2010, 25(5): 534-541.
3. Sun H, Sun F, Zhang X Q, et al. The prevalence and clinical characteristics of essential tremor in elderly Chinese: a population-based study. J Nutr Health Aging, 2020, 24(10): 1061-1065.
4. Ou Z, Pan J, Tang S, et al. Global trends in the incidence, prevalence, and years lived with disability of Parkinson's disease in 204 countries/territories from 1990 to 2019. Front Public Health, 2021, 9: 776847.
5. Zhang Z X, Roman G C, Hong Z, et al. Parkinson’s disease in China: prevalence in Beijing, Xian, and Shanghai. Lancet, 2005, 365(9459): 595-597.
6. Jitkritsadakul O, Jagota P, Bhidayasiri R. Pathophysiology of parkinsonian tremor: a focused narrative review. Asian Biomed, 2016, 10(1): s15-s22.
7. Morrison S, Kerr G, Silburn P. Bilateral tremor relations in Parkinson's disease: Effects of mechanical coupling and medication. Parkinsonism Relat Disord, 2008, 14(4): 298-308.
8. Grimaldi G, Manto M. Mechanisms and emerging therapies in tremor disorders. New York: Springer, 2012: 1-558.
9. Song P, Zhang Y, Zha M, et al. The global prevalence of essential tremor, with emphasis on age and sex: a meta-analysis. J Glob Health, 2021, 11: 04028.
10. Welton T, Cardoso F, Carr J A, et al. Essential tremor. Nat Rev Dis Primers, 2021, 7(1): 83.
11. Sebastian R I, Robin E K, Jessica L A, et al. A physical hand tremor simulator for user with inclusive design research//Proceedings of the ASME 2014 International Mechanical Engineering Congress and Exposition. Montreal, Canada: ASME, 2014: V011T14A025.
12. Masoumi M M. Passive hand tremor attenuator: magnetic spring. Vancouver: University of British Columbia, 2018.
13. AL-Mutari M M, Mehedi I M, Rao K P. Hand tremor simulator for preclinical assessment of Parkinsonism. International Journal of Engineering Science Invention, 2019, 8(11): 27-31.
14. Zain M Z, As’arry A, Kazi S, et al. Development of experimental-rig for human postural tremor behaviour. Int J Hum Factors Model Simul, 2010, 1(3): 339-351.
15. Buki E, Katz R, Zacksenhouse M, et al. Vib-bracelet: a passive absorber for attenuating forearm tremor. Med Biol Eng Comput, 2018, 56(5): 923-930.
16. Rudraraju S, Nguyen T. Wearable tremor reduction device (TRD) for human hands and arms//Proceedings of the 2018 Design of Medical Devices Conference, Minneapolis, USA: ASME, 2018.
17. Gebai S, Hammoud M, Cumunel G, et al. Experimental testing of passive linear TMD for postural tremor attenuation. Appl Sci, 2021, 11(21): 9809.
18. Manthan S. Non-invasive passive hand tremor control orthoses. Vancouver: University of British Columbia, 2022.
19. 李军强, 王娟, 高永生. 抑制震颤机器人抑震试验系统研究. 机械设计与制造, 2012, 4: 165-167.
20. 董必成, 董玉革, 孙建, 等. 两自由度人体手臂震颤模拟平台设计及性能分析. 机械设计与制造, 2014, 8: 55-57, 61.
21. Zhou Y, Ibrahim A, Jenkins M E, et al. Analysis of the effect of common disturbances on the safety of a wearable tremor suppression device. IEEE Rob Autom, 2021, 6(2): 2846-2853.
22. Fajardo J Jr, Melo L F. Towards a modular pathological tremor simulation system based on the Stewart platform. Sensors (Basel), 2023, 23(22): 9020.
23. Wen J F, Wang G, Jia J C, et al. Compliance control method for robot joint with variable stiffness. Int J Hydro mechatronics, 6(1): 45-58.
24. 刘海平, 刘庆生, 韩东航, 等. 人体手臂静止性震颤的负刚度吸振效果研究. 湖南大学学报(自然科学版), 2024, 51(2): 227-235.
25. Gebai S. Optimization of passive cantilever-type tuned mass damper to reduce the hand postural tremor. France: Université Paris-Est, 2020.
26. Gates D H, Walters L S, Cowley J, et al. Range of motion requirements for upper-limb activities of daily living. Am J Occup Ther, 2016, 70(1): 7001350010.
27. Doğan M, Koçak M, Onursal Kılınç Ö, et al. Functional range of motion in the upper extremity and trunk joints: nine functional everyday tasks with inertial sensors. Gait Posture, 2019, 70: 141-147.
28. Gebai S, Hammoud M, Khachfe H. Parametric study of an enhanced passive absorber used for tremor suppression. Struct Control Health Monit, 2018, 25(7): e2177.

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