Prediction of the Wrist Joint Position during a Postural Tremor Using Neural Oscillators and an Adaptive Controller

Abstract

The prediction of the joint angle position, especially during tremor bursts, can be useful for detecting, tracking, and forecasting tremors. Thus, this research proposes a new model for predicting the wrist joint position during rhythmic bursts and inter‑burst intervals. Since a tremor is an approximately rhythmic and roughly sinusoidal movement, neural oscillators have been selected to underlie the proposed model. Two neural oscillators were adopted. Electromyogram (EMG) signals were recorded from the extensor carpi radialis and flexor carpi radialis muscles concurrent with the joint angle signals of a stroke subject in an arm constant‑posture. The output frequency of each oscillator was equal to the frequency corresponding to the maximum value of power spectrum related to the rhythmic wrist joint angle signals which had been recorded during a postural tremor. The phase shift between the outputs of the two oscillators was equal to the phase shift between the muscle activation of the wrist flexor and extensor muscles. The difference between the two oscillators’ output signals was considered the main pattern. Along with a proportional compensator, an adaptive neural controller has adjusted the amplitude of the main pattern in such a way so as to minimize the wrist joint prediction error during a stroke patient’s tremor burst and a healthy subject’s generated artificial tremor. In regard to the range of wrist joint movement during the observed rhythmic motions, a calculated prediction error is deemed acceptable.