Simulink implementation of active control of human hand tremor of Parkinson's disease

Currently many people in the world are suffering with the neurological disease mainly seen as tremors in the hands known as Parkinson's disease. For suppression of the tremor in hands it is necessary to know the tremor characteristics and voluntary motion characteristics. The simplified model representation of human arm is done as an equivalent mathematical mechanical model.;A proportional derivative (PD) controller is designed for 60Hz bandwidth. Pole zero cancellation technique is used in designing the controller and the controller gains for 60Hz bandwidth are calculated. Butter worth band pass filter of first order is designed for 60Hz bandwidth to filter out the noise and the tremor range frequencies from the system.;Furthermore, the mechanical model of hand model along with designed PD controller is built using Simulink. The Simulink model is then simulated with inputs of sinusoidal tremor signal at 6Hz and voluntary motion signal at 0.5Hz.The simulation is done for three times as- sinusoidal tremor signal only, voluntary motion signal only and also both together acting on the mechanical model of the arm. The results show that the simulated model is able to suppress the tremor signal acting on the mechanical model of the hand as desired and that active control of the human hand with the suppression of tremor is achieved by giving a torque command feedback.