As a team of 2, we designed a 4-degree-of-freedom wearable robotic exoskeleton aimed at suppressing tremors in individuals with Parkinson’s disease and essential tremor. The system combines real-time sensing, active control, and precise motion modeling to dynamically reduce involuntary movements at the shoulder and elbow joints.
My Role
Key contributions included:
• Robotic design using Denavit-Hartenberg parameters and kinematic modeling for multi-joint control
• PID control implementation for real-time tremor suppression and trajectory correction
• Jacobian and inverse kinematics analysis to enable smooth, adaptive motion
• Simulated tremor effects and demonstrated how the control system reduced deviations by over 80%
The Findings
