Robust Tremor Attenuation for Single DOF Model of Human Elbow Joint With Parametric Uncertainties

In this article, a tremor attenuation algorithm is designed based on the backstepping method. A high-pass filter was designed in frequency domain and its state space realization was derived to be used as an estimator for the tremorous motion. Using the pole placement method an appropriate state feedback control law was designed to stabilize its output. The dynamics of the human arm was considered and a backstepping controller was derived for the applied torque to the arm. The global asymptotic stability of the resulting closed-loop system was proved using Lyapunov method. The controller is robust against parametric uncertainty and unmodeled nonlinear terms of the arm dynamical model. Simulation results shows the successful suppression of tremor in the presence of parametric uncertainty.