Latt Win Tun, Tan U-Xuan, Shee Cheng Yap, Riviere Cameron N, Ang Wei Tech
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore.
IEEE Sens J. 2009 Dec 1;9(12):1864-1871. doi: 10.1109/JSEN.2009.2030980.
Active physiological tremor compensation instruments have been under research and development recently. The sensing unit of the instruments provides information on three degrees-of-freedom (DOF) motion of the instrument tip using accelerations provided by accelerometers placed inside the instruments. A complete vector of angular acceleration of the instrument needs to be known to obtain information on three DOF motions of the tip. Sensing resolution of angular acceleration about the instrument axis is directly proportional to the width of the proximal-end sensing unit. To keep the sensing resolution high enough, the width of the unit has to be made large. As a result, the proximal-end sensing unit of the instruments is bulky. In this paper, placement of accelerometers is proposed such that the angular acceleration about the instrument axis need not be known to obtain information on the three DOF motions of the tip. With the proposed placement, the instrument is no longer bulky and fewer number of accelerometers is required, thereby making the instrument compact and better in terms of ergonomics and reliability. Experiments were conducted to show that the proposed design of placement works properly.
有源生理震颤补偿仪器最近一直在研发中。这些仪器的传感单元利用放置在仪器内部的加速度计提供的加速度来提供有关仪器尖端三自由度（DOF）运动的信息。为了获得有关尖端三自由度运动的信息，需要知道仪器的完整角加速度矢量。关于仪器轴的角加速度的传感分辨率与近端传感单元的宽度成正比。为了保持足够高的传感分辨率，该单元的宽度必须做得很大。结果，仪器的近端传感单元体积庞大。在本文中，提出了加速度计的放置方式，使得在不需要知道关于仪器轴的角加速度的情况下就能获得有关尖端三自由度运动的信息。通过所提出的放置方式，仪器不再体积庞大，并且所需的加速度计数量更少，从而使仪器在人体工程学和可靠性方面更加紧凑和优良。进行了实验以表明所提出的放置设计能够正常工作。
