SUPPRESSING PATHOLOGICAL TREMOR DURING DEXTROUS TELEOPERATION

摘要

Pathological tremor is suppressed during glove-based dextrous teleoperation using the Weighted-frequency Fourier Linear Combiner algorithm. This is a computationally inexpensive approach which models the tremor and subtracts it out of the incoming command signal. By suppressing the tremor, RMS error was decreased by 57% in tests combining tremor with a simulated grasping motion.