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4 authors, including:
Estela Bicho
University of Minho
University of Minho
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Luis A. Rocha
University of Minho
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Gago, M. F. (miguelfgago@gmai1.com)
Neurology Service, Vale do Ave Hospital Centre,
Guimariies, Portugal
frequency
could
be
varied;
and
the
second
PD's
I.
CONTEXT
II.
A.
20 ,---,-----,--,--,
ANALYSIS
-40
DVA model
-60
80
-100
-120
Here the main corpus and the DVA's mass's movement are
expressed by x(t) and y(t), respectively. Analyzing this model,
it is noticeable that the latter is influenced by x(t). Equation (1)
expresses the DVA's differential equation of motion. Using (1),
(2) can be obtained, which expresses the DVA's resonant
frequency.
-140
-180
-200
mzy"
(t)
-b2
'----'------'------'------'-----"'0:------"
'2:------"
14,...---'
Frequency (Hz)
Figure 2 - Main carpus' Bode plot with (green) and without (blue) DVA
20,-----,--'-----,----,--'------,-----,------,
40
(2)
80
L...--'"
tv(t)
tx(t)
-100
-120
-140
-160
-180
-200
Frequency (Hz)
B.
an
Un-dampen
(3)
A characteristic of the system is the existence of a mass
ratio (f.1) that results in better tremor absorption. Fig. 4
expresses the relation between the optimum mass ratio and the
external frequency applied to the system.
C.
7---13-:':-----!:--:"O:--:'11:---:':'2,-"
Components Choice
0.34 ,----,-----r--,
Arm
0.335
0.33
o
g:
0.325
0.32
'"
E
E
Arm
Inpu1 data
0.315
0.31
3.5
4.5
5.5
6.5
PATIENT'S CHARACTERISTICS
TABLE I.
Patient
Gender
Age
Tremor's Freq.
Female
56
5.317Hz
Male
60
5.049 Hz
Male
40
4.533 Hz
IMPLEMENTATlON
A.
Control Law
RESULTS
Un-Dampen DVA
0,1
JW,
0,09
,r
O, OS
-S 0,07
=:. 0,05
E
'!
-"
0,05
S 0,04
E!
:i.
0,03
0,02
0,01
'"
0,2
'-/
0,00
0,10
0,20
0,30
0,40
0,50
Time (h)
0,50
0,70
0,6
0,4
-1
0,8
Ti m e ( h)
0,80
i 0,1
i!
0,02
c(
0,06
/\
/ \
\
\
\
\
'\
"'-.r--- "'-S-
0,04
.iI
0,12 -1----,1'11.---------------
-; 0,12
! 0,1
...
0,08
'"
0,06
i!
J
I
/
/
...
0,08
..:
0,14
0,07
-; 0,06
1
'i 0,05
E
+-:A--ft't_+_----'--__l
1---'t----;_:_-,---t.:=J ---
..
-------0,04 +-----"----:/-,..._+____"<:
'!
-"
.511
-Ace's Am plitude
-RMS
0,04
0,03
JI
"
0,02
r-
- ll.!
II.
lUVvvUUWWV
___,
0 -1---==- -.---="'--__,_--_=.:;----=0,00
0,10
0,20
0,50
0,60
0,30
0,40
Tim., (h)
:"" H
l I
0,01
:_ -:__----0,02 --""'==='<_--->...:-
12
14
16
18
TABLE II.
10
Time(min)
---
B.
Patient
Reduction
51.35 %
26.63 %
60.46 %
Dampen DVA
0,2
0,18
:; 0,16
i 0,14
..
0,12
W ithoutDVA
c-
r-
'!
."
S
"
.III
"
- Un-DampeDVA
O,OS
--
0,06
.......-
-DampeDVA
01 1
---
The fabricated DVA has a tuning range within 4.2 and 6.3
Hz, for an Un-Dampen configuration and within 4.5 and 6 Hz,
for the Dampen one. Both ranges cover the frequencies of the
PD's resting tremors.
----
/
/'"
0,04
0,02
----6,1
5,6
5,1
4,6
4,1
Externa l Freq(Hz'
Figure 11 - System's Bode plot without (blue) DVA and with a Dampen
(green) and Un-Dampen (red) DVA
0,05
0,045
S
0,04
i 0,035
...
.. 0,03
E
0,025
."
; 0,02
l!
.III 0I 015
VI
0,01
"1
,
t \
"If "'I" 'f\/"
0,005
1\ 1\
11
y\
'V
'
"IV '1f ...,.
1,5
0,5
-DampeDVA
'"
Un-DampeDVA
-W ithoutDVA
2,5
V
'I
'\
j
'J
3,5
Time(mi,
OVA
configuration
Sinusoidal
Patient A's
tremors
Un-Dampen
98 %
51.35 %
Dampen
90.44 %
57 %
CONCLUSIONS
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