Customized optimal filter for eliminating operator's tremor

Juan Guillermo Gonzalez; Edwin A. Heredia; Tariq Rahman; Kenneth E. Barner; Gonzalo R. Arce

doi:10.1117/12.227937

1 December 1995 Customized optimal filter for eliminating operator's tremor

Juan Guillermo Gonzalez, Edwin A. Heredia, Tariq Rahman, Kenneth E. Barner, Gonzalo R. Arce

Proceedings Volume 2590, Telemanipulator and Telepresence Technologies II; (1995) https://doi.org/10.1117/12.227937
Event: Photonics East '95, 1995, Philadelphia, PA, United States

Abstract

Remote manually operated tasks such as those found in teleoperation, virtual reality, or joystick-based computer access, require the generation of an intermediate signal which is transmitted to the controlled subsystem (robot arm, virtual environment or cursor). When man-machine movements are distorted by tremor, performance can be improved by digitally filtering the intermediate signal before it reaches the controlled device. This paper introduces a novel filtering framework in which digital equalizers are optimally designed after pursuit tracking task experiments. Due to inherent properties of the man-machine system, the design of tremor suppression equalizers presents two serious problems: (1) performance criteria leading to optimizations that minimize mean-squared error are not efficient for tremor elimination, and (2) movement signals show highly ill-conditioned autocorrelation matrices, which often result in useless or unstable solutions. A new performance indicator is introduced, namely the F-MSE_d, and the optimal equalizer according to this new criterion is developed. Ill-condition of the autocorrelation matrix is overcome using a novel method which we call pulled-optimization. Experiments performed with both a person with tremor disability, and a vibration inducing device, show significant results.

Citation Download Citation

Juan Guillermo Gonzalez, Edwin A. Heredia, Tariq Rahman, Kenneth E. Barner, and Gonzalo R. Arce "Customized optimal filter for eliminating operator's tremor", Proc. SPIE 2590, Telemanipulator and Telepresence Technologies II, (1 December 1995); https://doi.org/10.1117/12.227937

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