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In this study, a novel wearable pathological tremor assistive rehabilitation device based on parallel cubic nonlinear energy sinks (PTARD) has been developed. Firstly, a dynamic model of the coupled system of a two-degree-of-freedom human arm and PTARD is established based on the Lagrange's equation. Then, the Complexification-Averaging method (CX-A) is used to solve the steady-state responses of the coupled system, and numerical verification is carried out by using the Fourth-order Runge-Kutta method. Finally, the tremor reduction effect is evaluated in terms of the terminal tremor trajectory and the terminal tremor amplitude. After installing the PTARD, the two-order peak values of the terminal tremor response decrease by 27.14% and 21.76% respectively. In addition, comparing the whole band tremor energy of joints and the end of arm with and without PTARD, a broadband tremor reduction effect can be seen. The related research provides a new reference for the clinical treatment of pathological tremor.

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Wearable Assistive Rehabilitation Device Based on Non-linear Energy Sink for Suppressing Pathological Tremor of Human Arm

  • 会议论文

  • 发表日期：

    2026年

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  • Qingsheng Liu,
  • Haiping Liu,
  • Yu Jiang,
  • Zhe Wang,
  • Ji He,
  • Xiaolu Liu,
  • Rongzheng Zou

摘要

In this study, a novel wearable pathological tremor assistive rehabilitation device based on parallel cubic nonlinear energy sinks (PTARD) has been developed. Firstly, a dynamic model of the coupled system of a two-degree-of-freedom human arm and PTARD is established based on the Lagrange's equation. Then, the Complexification-Averaging method (CX-A) is used to solve the steady-state responses of the coupled system, and numerical verification is carried out by using the Fourth-order Runge-Kutta method. Finally, the tremor reduction effect is evaluated in terms of the terminal tremor trajectory and the terminal tremor amplitude. After installing the PTARD, the two-order peak values of the terminal tremor response decrease by 27.14% and 21.76% respectively. In addition, comparing the whole band tremor energy of joints and the end of arm with and without PTARD, a broadband tremor reduction effect can be seen. The related research provides a new reference for the clinical treatment of pathological tremor.