real-time estimation of pathological tremor parameters from gyroscope data从陀螺仪数据病理地震参数的实时估计.pdfVIP

Sensors 2010, 10, 2129-2149; doi:10.3390/s100302129 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Real-Time Estimation of Pathological Tremor Parameters from Gyroscope Data ⋆ ´ Juan A. Gallego , Eduardo Rocon, Javier O. Roa, Juan C. Moreno and Jose L. Pons ´ Bioengineering Group, Consejo Superior de Investigaciones Cientıficas, CSIC, Ctra. Campo Real, km 0.2 La Poveda, 28500, Arganda del Rey, Spain; E-Mails: erocon@iai.csic.es (E.R.); javieroa@iai.csic.es (J.O.R.); moreno@iai.csic.es (J.C.M.); jlpons@iai.csic.es (J.L.P.) ⋆ Author to whom correspondence should be addressed; E-Mail: gallego@iai.csic.es; Tel.: +34-918711900; Fax: +34-918717050. Received: 25 January 2010; in revised form: 26 February 2010 / Accepted: 1 March 2010 / Published: 16 March 2010 Abstract: This paper presents a two stage algorithm for real-time estimation of instanta- neous tremor parameters from gyroscope recordings. Gyroscopes possess the advantage of providing directly joint rotational speed, overcoming the limitations of traditional tremor recording based on accelerometers. The proposed algorithm first extracts tremor patterns from raw angular data, and afterwards estimates its instantaneous amplitude and frequency. Real-time separation of voluntary and tremorous motion relies on their different frequency contents, whereas tremor modelling is based on an adaptive LMS algorithm