Towards wearable tremor suppression using dielectric elastomer stack actuators
Christopher R. Kelley, Jeffrey L. Kauffman
Abstract
Abstract Active wearable tremor suppression devices apply actuators to the human body to produce joint torques that reduce tremor motion. This potential alternative to medications and surgery has the advantage of providing robust tremor treatment that is non-invasive, but the bulkiness of typical engineering actuators currently prohibits clinical implementations. Dielectric elastomer stack actuators (DESAs) offer a potential pathway towards achieving soft, low-profile tremor suppression devices: DESAs have similar mechanical properties as human muscles and can conform to the human limb. However, low actuation levels and a lack of commercial availability limit the development of DESA-based orthoses. Employing a control approach that only suppresses tremor while allowing the actuators to follow voluntary motion passively significantly decreases actuation requirements to improve potential for clinical devices. Still, DESAs that may offer the necessary actuation characteristics require specialized equipment and techniques. This research advances DESA-based tremor suppression by experimentally demonstrating DESA-based suppression of tremor-like signals on a scaled system using easily manufactured DESAs. Further discussion quantifies the DESA parameters that will enable physical implementations of human-scale tremor suppression and identifies pathways towards achieving those parameters.