Passive and active assistive writing devices in suppressing hand tremor

Patients with hand tremor disease frequently experience difficulties in performing their daily tasks, especially in handwriting activities. In order to prevent the ingestion of drugs and intervention of surgeries, a non-invasive solution was presented to improve their writing capabilities. In this s...

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Main Author:	Mohd. Yusop, Zulkifli
Format:	Thesis
Language:	English
Published:	2017
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/81618/1/ZulkifliMohdYusopPFKM2017.pdf
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id	my-utm-ep.81618
record_format	uketd_dc
spelling	my-utm-ep.816182019-09-10T01:50:05Z Passive and active assistive writing devices in suppressing hand tremor 2017 Mohd. Yusop, Zulkifli TJ Mechanical engineering and machinery Patients with hand tremor disease frequently experience difficulties in performing their daily tasks, especially in handwriting activities. In order to prevent the ingestion of drugs and intervention of surgeries, a non-invasive solution was presented to improve their writing capabilities. In this study, there were two novel inventions of the hand-held device named as TREMORX and Active Assistive Writing Device (AAWD) with the approaches of passive and active elements respectively. For validation, the patient with tremor was assisted in using a normal pen and TREMORX to perform a handwriting task at the sitting and standing postures. For AAWD, the active suppressing element was the servo motor to control the hand tremor act on the writing tool tip and an accelerometer will measure the necessary parameters values for feedback control signal. The classic Proportional (P) controller and Proportional-Integral- Derivative (PID) were presented. The P controller was tuned with a meta-heuristic method by adjusting the parameters into several values to examine the response and robustness of the controller in suppressing the tremor. The evaluation was based on decreasing the coherence magnitude on the frequency response analysis. To optimise the performances, two types of Evolutionary Algorithms (EA) were employed which were Genetic Algorithm (GA) and Particle Swarm Optimisation (PSO). The optimisation techniques were integrated into the PID controller system to generate the optimum performances in controlling the tremor. For the simulation study, the parametric model representing the actual system of the AAWD was presented. The main objectives of this analysis were to determine the optimum value of PID parameters based on EA optimisation techniques. The determined parameters for both optimisations were then injected into the experimental environment to test and evaluate the performance of the controllers. The findings of the study exhibited that the PID controller for both EA optimisation provided excellent performances in suppressing the tremor signal act on the AAWD in comparison to the classic pure P controller. Based on the fitness evaluation, the GA optimisation significantly enhanced the PID controller performance compared to PSO optimisation. The handwriting performance using both TRREMORX and AAWD was recorded and from a visual justification, it showed that the quality of legibility was improved as compared with using normal handwriting devices. These outcomes provided an important contribution towards achieving novel methods in suppressing hand tremor by means of the invention of the handheld writing devices incorporated with intelligent control techniques. 2017 Thesis http://eprints.utm.my/id/eprint/81618/ http://eprints.utm.my/id/eprint/81618/1/ZulkifliMohdYusopPFKM2017.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:126122 phd doctoral Universiti Teknologi Malaysia Mechanical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Mohd. Yusop, Zulkifli Passive and active assistive writing devices in suppressing hand tremor
description	Patients with hand tremor disease frequently experience difficulties in performing their daily tasks, especially in handwriting activities. In order to prevent the ingestion of drugs and intervention of surgeries, a non-invasive solution was presented to improve their writing capabilities. In this study, there were two novel inventions of the hand-held device named as TREMORX and Active Assistive Writing Device (AAWD) with the approaches of passive and active elements respectively. For validation, the patient with tremor was assisted in using a normal pen and TREMORX to perform a handwriting task at the sitting and standing postures. For AAWD, the active suppressing element was the servo motor to control the hand tremor act on the writing tool tip and an accelerometer will measure the necessary parameters values for feedback control signal. The classic Proportional (P) controller and Proportional-Integral- Derivative (PID) were presented. The P controller was tuned with a meta-heuristic method by adjusting the parameters into several values to examine the response and robustness of the controller in suppressing the tremor. The evaluation was based on decreasing the coherence magnitude on the frequency response analysis. To optimise the performances, two types of Evolutionary Algorithms (EA) were employed which were Genetic Algorithm (GA) and Particle Swarm Optimisation (PSO). The optimisation techniques were integrated into the PID controller system to generate the optimum performances in controlling the tremor. For the simulation study, the parametric model representing the actual system of the AAWD was presented. The main objectives of this analysis were to determine the optimum value of PID parameters based on EA optimisation techniques. The determined parameters for both optimisations were then injected into the experimental environment to test and evaluate the performance of the controllers. The findings of the study exhibited that the PID controller for both EA optimisation provided excellent performances in suppressing the tremor signal act on the AAWD in comparison to the classic pure P controller. Based on the fitness evaluation, the GA optimisation significantly enhanced the PID controller performance compared to PSO optimisation. The handwriting performance using both TRREMORX and AAWD was recorded and from a visual justification, it showed that the quality of legibility was improved as compared with using normal handwriting devices. These outcomes provided an important contribution towards achieving novel methods in suppressing hand tremor by means of the invention of the handheld writing devices incorporated with intelligent control techniques.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Mohd. Yusop, Zulkifli
author_facet	Mohd. Yusop, Zulkifli
author_sort	Mohd. Yusop, Zulkifli
title	Passive and active assistive writing devices in suppressing hand tremor
title_short	Passive and active assistive writing devices in suppressing hand tremor
title_full	Passive and active assistive writing devices in suppressing hand tremor
title_fullStr	Passive and active assistive writing devices in suppressing hand tremor
title_full_unstemmed	Passive and active assistive writing devices in suppressing hand tremor
title_sort	passive and active assistive writing devices in suppressing hand tremor
granting_institution	Universiti Teknologi Malaysia
granting_department	Mechanical Engineering
publishDate	2017
url	http://eprints.utm.my/id/eprint/81618/1/ZulkifliMohdYusopPFKM2017.pdf
_version_	1747818372524933120

Passive and active assistive writing devices in suppressing hand tremor

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