Repetitive control based tremor suppression using electrical stimulation

E. H. Copur, C. T. Freeman, B. Chu, Dina Shona Laila

Research output: Contribution to conferencePaper


Tremor is a common, debilitating movement condition commonly occurring in neurological disorders, with invasive and pharmacological treatment methods often ineffective. Functional electrical stimulation (FES) holds potential to supress tremor, but previous control methods have proven of limited success. This paper establishes the feasibility of using repetitive control, a framework which is able to eliminate the effect of periodic disturbances by including an internal model of the oscillation within the control structure. A model of the wrist is developed and two different repetitive control algorithms are applied to suppress tremor via stimulation of wrist flexors and extensors. Experimental results are compared with filter-based methods to establish the efficacy of the proposed approach.
Original languageEnglish
Publication statusPublished - 2 Oct 2014
EventUKACC International Conference on Control - , Loughborough, United Kingdom
Duration: 9 Jul 201411 Jul 2014


ConferenceUKACC International Conference on Control
Abbreviated titleCONTROL
Country/TerritoryUnited Kingdom

Bibliographical note

The full text is currently unavailable on the repository.


  • Wrist
  • Muscles
  • Joints
  • Time-frequency analysis
  • Torque
  • Closed loop systems
  • Data models
  • patient treatment
  • diseases
  • neurophysiology
  • repetitive control based tremor suppression
  • filter-based methods
  • extensors
  • wrist flexors
  • control structure
  • FES
  • functional electrical stimulation
  • pharmacological treatment methods
  • neurological disorders
  • debilitating movement condition

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