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Almost 80 million people worldwide suffer from tremor – involuntary rhythmic shaking movements – in one or more body parts. Wearable soft robotic devices hold promise as a major practical solution for active tremor suppression, when other treatments are ineffective or too invasive. However complex clinical testing procedures limit the possibility to early evaluate the potential of novel soft actuators for tremor suppression. Here we introduce an approach for rapid evaluation of emerging tremor suppression technologies. This method combines three steps: 1) reproduction of clinically relevant tremor in a robotic test-bed (“mechanical patient”) that mimics a human forearm, 2) suppression of the tremor with electro-hydraulic actuators (Peano-HASEL), and 3) validation of achieved suppression via biomechanical modeling. We show that an antagonistic pair of slim (−1 mm) and lightweight (~15 gr) HASEL actuators would be fast and strong enough to suppress tremors of the mechanical patient, achieving reductions of 76–94% for clinically relevant mild to severe tremors of frequencies between 2–8 Hz.

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Testing Wearable Soft Robotic Actuators for Suppression of Human Wrist Tremor in a Mechanical Patient

  • 会议论文

  • 发表日期：

    2025年

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  • A. Shagan Shomron,
  • C. Chase-Markopoulou,
  • J. Walter,
  • J. Sellhorn-Timm,
  • Y. Shao,
  • T. Nadler,
  • A. Benson,
  • I. Wochner,
  • E. Rumley,
  • I. Wurster,
  • P. Klocke,
  • D. Weiß,
  • S. Schmitt,
  • C. Keplinger,
  • D. Häufle

摘要

Almost 80 million people worldwide suffer from tremor – involuntary rhythmic shaking movements – in one or more body parts. Wearable soft robotic devices hold promise as a major practical solution for active tremor suppression, when other treatments are ineffective or too invasive. However complex clinical testing procedures limit the possibility to early evaluate the potential of novel soft actuators for tremor suppression. Here we introduce an approach for rapid evaluation of emerging tremor suppression technologies. This method combines three steps: 1) reproduction of clinically relevant tremor in a robotic test-bed (“mechanical patient”) that mimics a human forearm, 2) suppression of the tremor with electro-hydraulic actuators (Peano-HASEL), and 3) validation of achieved suppression via biomechanical modeling. We show that an antagonistic pair of slim (−1 mm) and lightweight (~15 gr) HASEL actuators would be fast and strong enough to suppress tremors of the mechanical patient, achieving reductions of 76–94% for clinically relevant mild to severe tremors of frequencies between 2–8 Hz.