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Proceedings Paper

Customized optimal filter for eliminating operator's tremor
Author(s): Juan Guillermo Gonzalez; Edwin A. Heredia; Tariq Rahman; Kenneth E. Barner; Gonzalo R. Arce
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Paper 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-MSEd, 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.

Paper Details

Date Published: 1 December 1995
PDF: 12 pages
Proc. SPIE 2590, Telemanipulator and Telepresence Technologies II, (1 December 1995); doi: 10.1117/12.227937
Show Author Affiliations
Juan Guillermo Gonzalez, Univ. of Delaware and A. I. duPont Institute (United States)
Edwin A. Heredia, Univ. of Delaware and A. I. duPont Institute (United States)
Tariq Rahman, Univ. of Delaware and A. I. duPont Institute (United States)
Kenneth E. Barner, Univ. of Delaware and A. I. duPont Institute (United States)
Gonzalo R. Arce, Univ. of Delaware and A. I. duPont Institute (United States)


Published in SPIE Proceedings Vol. 2590:
Telemanipulator and Telepresence Technologies II
Marcos Salganicoff, Editor(s)

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