Repetitive Control Based Tremor Suppression Using Electrical Stimulation

Repetitive Control Based Tremor Suppression Using Electrical Stimulation Engin Hasan Copur Dr. Bing Chu, Dr. Christopher Freeman, Dr. Dina Shona Laila University of Southampton Univ logo UKACC Ph. D Presentation Showcase

Outline Ø What is a tremor? Ø Tremor Suppression Techniques Ø Objective Ø Simulation Results Ø Conclusion and Future Work Univ logo UKACC Ph. D Presentation Showcase Slide 2

What is a tremor? Ø Tremor is an approximately rhythmic, roughly sinusoidal involuntary movement Ø 1. 5 million patients in Europe have essential tremor (Sullivan et al. , 2004) Ø Of these 1. 5 million as many as one in three may have intention tremor (Louis et al. , 2009) Univ logo UKACC Ph. D Presentation Showcase Slide 3

Tremor Suppression Techniques Ø Invasive Methods: § Stereotactic Thalamotomy § Deep Brain Stimulation (DBS) Ø Non-invasive Methods: § Pharmacological treatment § Non-pharmacological treatment Univ logo UKACC Ph. D Presentation Showcase Slide 4

Functional Electrical Stimulation (FES) Ø Previous treatment methods have some limitations Ø FES is potentially more effective and less dangerous than the others Ø An open challenge of using FES for tremor suppression is to employ a most effective closed-loop control algorithm in FES applications. Univ logo UKACC Ph. D Presentation Showcase Slide 5

Objective Ø In my study, repetitive control is used and compared with some other methods to examine whether repetitive control has more potential than the others for suppressing tremor or not. Univ logo UKACC Ph. D Presentation Showcase Slide 6

Simulation Results Wrist Model Gain Filter Time responses of output of closed-loop system with high-pass and band-pass filters Univ logo UKACC Ph. D Presentation Showcase Slide 7

Simulation Results Repetitive Controller Wrist Model Time responses of output of closed-loop system with different repetitive control algortihms Univ logo UKACC Ph. D Presentation Showcase Slide 8

Conclusion or summary or future work Ø Conclusion § Filters are able to remove tremor signal very slightly § RC is more efficient than filters § However both methods have some limitations Ø Future Work § All simulations in this study will be tested experimentally § The identification method of wrist model will be checked § The studies will be expanded to design a more robust control algorithm § All methods may be tested on MS patients diagnosed with intention tremor Univ logo UKACC Ph. D Presentation Showcase Slide 9

Thank you! Univ logo UKACC Ph. D Presentation Showcase Slide 10

References Ø Louis, E. D. , Frucht, S. J. , and Rios, E. (2009). Intention tremor in essential tremor: Prevalence and association with disease duration. Movement Disorders, 24(4): 626– 627. 4 Ø Sullivan, K. L. , Hauser, R. A. , and Zesiewicz, T. A. (2004). Essential tremor: Epidemiology, diagnosis, and treatment. The Neurologist, 10(5): 250– 258. Univ logo UKACC Ph. D Presentation Showcase Slide 11