Dynamic Modeling of the Limb and the Passive Vibration Absorber System With the Aim of Suppressing the Rest Tremor of The Hand

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1 1Department of Mechanical Engineering, University of Tabriz, Tabriz, Iran.

2 Department of Mechatronics Engineering, University of Tabriz, Tabriz, Iran.

Abstract

Hand tremor, a prevalent movement disorder, significantly impairs daily activities and quality of life. This paper investigates a passive vibration absorber system to suppress the hand tremor. An integrated dynamical model is developed, combining a 5-degree-of-freedom (DoF) multibody representation of the forearm and hand with a 2-DoF absorber system. The biomechanical model features three DoFs at the wrist and two at the elbow. The dynamic analysis employs a two-stage methodology. First, inverse dynamics calculates the stimulatory joint torques causing tremor, based on predefined oscillatory trajectories. To address the practical challenge of sensor drift in tremor measurement—a key limitation when using gyroscopes/accelerometers with Kalman filters—an innovative method based on Fourier expansion is introduced. This enhances the accuracy of estimation comparing traditional ones. Subsequently, forward dynamics simulations are performed with the calculated torques applied to the model integrated with the passive absorbers (masses connected via spring-damper elements). Simulation results demonstrate that this system significantly reduces tremor vibrations, particularly in the flexion/extension axes of the elbow and wrist. The model provides a robust foundation for optimizing the design of effective, non-invasive wearable devices for tremor suppression.

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