ADAPTIVE HUMAN TREMOR ASSESSMENT AND ATTENUATION - Six Degree-of-Freedom Motion Analysis Utilizing Wavelets

Wesley J. E. Teskey, Mohamed Elhabiby, Naser El-Sheimy

Abstract

The use of a weighted-frequency Fourier linear combiner (WFLC) algorithm for assessment and attenuation of movement disorder tremor (including essential tremor and Parkinson’s tremor) is quite prevalent; indeed, this technique is likely the most popular for such applications. The novel work presented here applies this technique to accelerometer and gyroscope data describing six degree-of-freedom motion (three translational and three rotational degrees-of-freedom). Most analysis of tremor is based on observation of generally one to three degrees-of-freedom of motion. Six degree-of-freedom motion analysis is more difficult to accomplish because of the complexity of capturing such a large amount of motion data. As well, processing accelerometer and gyroscope data to yield six degree-of-freedom motion generally involves the use of a Kalman smoother (necessary because of signal noise and drift) to ensure that accelerometer signals are correctly compensated for the influence of gravity. After data are processed using a Kalman smoother and the WFLC algorithm is applied, results are interpreted using wavelet frequency spectrum analysis to determine the frequency content before and after processing the data. Results show that the WFLC algorithm can be successfully applied to all six degrees-of-freedom of motion to largely remove tremor.

References

  1. Altmann, S. L., 1986. Rotations, Quaternions and Double Group. Dover Publications.
  2. Brookner, E., 1998. Tracking and Kalman filtering made easy. John Wiley & Sons, Ltd.
  3. Brown, R. G., Hwang, P. Y. C., 1992. Introduction to Random Signals and Applied Kalman Filtering. John Wiley and Sons Inc. 2nd edition.
  4. Chui, C. K., Chen, G., 1991. Kalman Filtering With Real Time Applications. Springer-Verlag. 2nd edition.
  5. Elble R J, Koller W C. Tremor. Baltimore: The John Hopkins University Press; 1990.
  6. El-Sheimy, N., Hou, H., Niu, X, 2008. Analysis and modeling of inertial sensors using Allan variance. IEEE Transactions on Instrumentation and Measurement, 57(1), pp. 140-149.
  7. Gallego, J. A., Rocon, E., Roa, J. O., Moreno, J. C., Koutsou, A. D., Pons, J. L., 2009. On the use of inertial measurement units for real-time quantification of pathological tremor amplitude and frequency. In Proceedings of the Eurosensors XXIII conference. Procedia Chemistry 1, pp. 1219-1222.
  8. Goswami, J. C., Chan, A. K., 1999. Fundamentals of Wavelets: Theory, Algorithms and Applications. Wiley Series in Microwave and Optical Engineering, Wiley-Interscience.
  9. Grewal, M. S., 1993. Kalmen Filtering: Theory and Practice. Prentice-Hall.
  10. Kuipers, B. J., 1999. Quaternions and Rotation Sequences: A Primer With Applications to Orbits, Aerospace and Virtual Reality. Princeton University Press.
  11. LIS3L06AL MEMS Inertial Sensor Data Sheet, 2006. ST Microelectronics, pp. 1-17, [Online]. Available: http:// www.st.com/stonline/products/literature/ds/11669.pdf [Accessed 13 July, 2010].
  12. Louis, E. D., 2005. Essential tremor. Lancet Neurol, 4, pp. 100-110.
  13. Mansur, P. H. G., Cury, L. K. P., Andrade, A. O., Pereira, A. A., Miotto, G. A. A., Soares, A. B., Naves, E. L. M., 2007. A Review on Techniques for Tremor Recording and Quantification. Critical Reviews in Biomedical Engineering, 35(5), pp. 343-362.
  14. Matlab (computational environment) Help Documentation, 2008. scal2frq function, [Online]. Available:http://matlab.izmiran.ru/help/toolbox/wavel et/scal2frq.html [Accessed 13 July, 2010].
  15. Riviere, C. N., Rader, R. S., Thakor, N. V., 1998. Adaptive Canceling of Physiological Tremor for Improved Precision in Microsurgery. IEEE Transactions on Biomedical Engineering, 45(7), pp. 839-846.
  16. Riviere, C. N., Reich, S. G., Thakor, N. V., 1997. Adaptive Fourier Modeling for Quantification of Tremor. Journal of Neuroscience Methods, 74, pp. 77- 87.
  17. Rocon, E., Belda-Louis, J. M., Sanchez-Lacuesta, J. J., Pons, J. L., 2004. Pathological Tremor Management: Monitoring, Compensatory Technology and Evaluation. Technology and Disability, 16, pp. 3-18.
  18. Rocon de Lima, E., Andrade, A. O., Pons, J. L., Kyberd, P., Nasuto, S. J., 2006. Empirical Mode Decomposition: a Novel Technique for the Study of Tremor Time Series. Med Bio Eng Comput, 44, pp. 569- 582.
  19. Sabatini, A. M., 2006. Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing. IEEE Transactions on Biomedical Engineering, 53(7), pp. 1346-1356.
  20. Shin, E., 2005. Estimation Techniques for Low Cost Inertial Navigation. Ph.D. Department of Geomatics Engineering, University of Calgary.
  21. Stockwell, W., Angle Random Walk. Crossbow Technologies Inc., pp. 1-4, [Online]. Available: http:// www.xbow.com/pdf/AngleRandomWalkAppNote.pdf [Accessed 13 July, 2010].
  22. XV-8100CB ultra miniature size gyro sensor data sheet. Epson Toyocom, pp. 1-2, [Online]. Available: http://www.frank-schulte.com/media/Pdf/XV8100CB_E06X.pdf [Accessed 13 July, 2010].
Download


Paper Citation


in Harvard Style

J. E. Teskey W., Elhabiby M. and El-Sheimy N. (2011). ADAPTIVE HUMAN TREMOR ASSESSMENT AND ATTENUATION - Six Degree-of-Freedom Motion Analysis Utilizing Wavelets . In Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2011) ISBN 978-989-8425-37-9, pages 46-54. DOI: 10.5220/0003146900460054


in Bibtex Style

@conference{biodevices11,
author={Wesley J. E. Teskey and Mohamed Elhabiby and Naser El-Sheimy},
title={ADAPTIVE HUMAN TREMOR ASSESSMENT AND ATTENUATION - Six Degree-of-Freedom Motion Analysis Utilizing Wavelets},
booktitle={Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2011)},
year={2011},
pages={46-54},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003146900460054},
isbn={978-989-8425-37-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2011)
TI - ADAPTIVE HUMAN TREMOR ASSESSMENT AND ATTENUATION - Six Degree-of-Freedom Motion Analysis Utilizing Wavelets
SN - 978-989-8425-37-9
AU - J. E. Teskey W.
AU - Elhabiby M.
AU - El-Sheimy N.
PY - 2011
SP - 46
EP - 54
DO - 10.5220/0003146900460054