Possibility study of rest tremor suppression using a passive continuous absorber

In this research, an optimal two DOF continuous dynamic absorber is presented.Two beamsare connected to each other by a revolute joint and connected to two DOF arm model in a parallel form,as exoskeleton. The tremor hasroughlysinusoidal form with variant frequency nature, so the optimization criterion is probably more desirable than the popular optimization method and was implemented in our research. The objective of optimization criterion is to reduce the total vibration energy of the system for overall frequencies. An objective function, considering the elbow joint angle, ,was selected. The optimization was done by minimization of this objective function and the beam parameters(EI, and the connect point to arm links)were derived. The optimal system, including the absorber, performance was analyzed in both time and frequency domains. Implementing the optimal absorber, the frequency response amplitude of was reduced by more than 94% at the first natural frequency of the primary system. The reduction of more than 86% was observed for the shoulder joint angle, .

Keywords:

vibration absorber , objective function , H2 optimization method , frequency response function