Figure 1.
Patient Using the Wearable Orthosis for Tremor Assessment and Suppression Exoskeleton Fixed on the Right Upper Limb.
This robotic device spans the elbow and wrist joints. It applies independent tremor suppression strategies to elbow flexo-extension, wrist flexo-extension, and wrist prono-supination.
Figure 2.
(Left) Oscillations of Elbow Tremor with the Wearable Orthosis for Tremor Assessment and Suppression in Monitoring and Suppression Modes. (Right) Associated Power Spectral Density (PSD) in Monitoring and Suppressing Modes for User 2.
Note the sharp reduction in tremor amplitude and power when suppressing actions are applied.
Figure 3.
Tremor Reduction (y-axis) Achieved by the Wearable Orthosis for Tremor Assessment and Suppression (WOTAS) Operating in Active (Blue Markers) and Passive (Red Markers) Suppression Modes.
The x-axis represents the user’s tremor energy with WOTAS in monitoring mode.
Figure 4.
A Patient Wearing the Current Prototype of the TREMOR Neurorobot.
The picture shows the four textile substrates containing the inertial sensors and, under them, the neurostimulation electrodes fixed with surgical tape.
Figure 5.
Example of the Multimodal Human–Robot Interface to Characterize Tremor in the Presence of Voluntary Movement in a Tremor Patient.
They show, from top to bottom: 1) Four EEG channels, 2) the detection of movement intention from EEG (black) together with the processed voluntary movement (gray), 3) Four surface EMG channels, 4) the detection of tremor onset from surface EMG (wrist extensors and flexors in black and gray, respectively), 5) estimation of tremor frequency from surface EMG (wrist extensors and flexors in black and gray, respectively), 6) wrist flexion-extension measured with a pair of gyroscopes, 7) estimation of voluntary movement (gray) and tremor (black) with the two-stage algorithm, and 8) estimation of tremor frequency with the two-stage algorithm. Reprinted from Ref. 66.
Figure 6.
Example of the TREMOR Neurorobot in the Three Experimental Conditions (from top to bottom): Monitoring, Active, and Passive Modes.
Left plots show wrist flexion-extension, and right plots show the associated power spectral density in a patient with Parkinson’s disease. For the active and passive interventions, we show part of the trial without (gray) and with neurostimulation (blue). Remarkable tremor attenuation is obtained with both approaches.
