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Published in: Medical & Biological Engineering & Computing 10/2023

21-07-2023 | Original Article

FiMec tremor stabilization spoon: design and active stabilization control of two DoF robotic eating devices for hand tremor patients

Authors: Beyda Taşar, Ahmet B. Tatar, Alper K. Tanyıldızı, Oğuz Yakut

Published in: Medical & Biological Engineering & Computing | Issue 10/2023

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Abstract

This article is about vibration-damping robotic eating devices designed for use by people who have difficulty in eating due to hand tremors due to neuromuscular system disorder. The robotic eating device has two degrees of freedom (DoF). It contains an active controller structure to absorb vibrations in the y- and z-directions. In the handle part of the robotic eating device, there are two DC motors placed on the y- and z-axis, a three-axis IMU inertia sensor, an embedded system board, and a power unit. To absorb the vibration measured from the IMU sensor, the position control of the two motors to which the spoon is connected is provided by PID controllers. The part of the spoon (the pit surface) where the food is placed is tried to be kept constant. To test the vibration-damping performance of the control method, the dynamic model of the spoon along the eating kinematic trajectory was simulated in the SimMechanics environment using vibration data from ten tremor patients. The results show that the stabilization method can absorb the vibration in the hand of the person in the range of 84–99.409% and successfully provide the stabilization of the spoon tip. This damping rate is promising for providing a healthy diet for hand tremor patients.

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Metadata
Title
FiMec tremor stabilization spoon: design and active stabilization control of two DoF robotic eating devices for hand tremor patients
Authors
Beyda Taşar
Ahmet B. Tatar
Alper K. Tanyıldızı
Oğuz Yakut
Publication date
21-07-2023
Publisher
Springer Berlin Heidelberg
Published in
Medical & Biological Engineering & Computing / Issue 10/2023
Print ISSN: 0140-0118
Electronic ISSN: 1741-0444
DOI
https://doi.org/10.1007/s11517-023-02886-z

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