TY - GEN
T1 - Modeling of physiological tremor with quaternion variant of extreme learning machines
AU - Tatinati, Sivanagaraja
AU - Wang, Yubo
AU - Veluvolu, Kalyana C.
N1 - Publisher Copyright:
© 2016 ACM.
PY - 2016/11/26
Y1 - 2016/11/26
N2 - Hand-held robotic surgical instruments are developed to acquire the maneuvered hand motion of the surgeon and then provide a control signal for real-time compensation of the physiological tremor in three-dimensional (3-D) space. For active tremor compensation, accurate modeling and estimation of physiological tremor is essential. The current modeling techniques that models tremor in 3D space consider the motion in three-axes (x, y, and z axes) as three separate one-dimensional signals and then perform modeling separately. Recently, it has been shown that for physiological tremor motion there exists cross dimensional coupling and it improves the modeling accuracy. Motivated by this, a quaternion variant for extreme learning machines is developed for accurate 3D modeling of tremor. The developed method is validated with real tremor data and the obtained results highlighted the suitability of this method for accurate tremor modeling in 3D space.
AB - Hand-held robotic surgical instruments are developed to acquire the maneuvered hand motion of the surgeon and then provide a control signal for real-time compensation of the physiological tremor in three-dimensional (3-D) space. For active tremor compensation, accurate modeling and estimation of physiological tremor is essential. The current modeling techniques that models tremor in 3D space consider the motion in three-axes (x, y, and z axes) as three separate one-dimensional signals and then perform modeling separately. Recently, it has been shown that for physiological tremor motion there exists cross dimensional coupling and it improves the modeling accuracy. Motivated by this, a quaternion variant for extreme learning machines is developed for accurate 3D modeling of tremor. The developed method is validated with real tremor data and the obtained results highlighted the suitability of this method for accurate tremor modeling in 3D space.
KW - Extreme learning machines
KW - Modeling
KW - Physiological tremor
KW - Quaternion
UR - https://www.scopus.com/pages/publications/85014895730
U2 - 10.1145/3018009.3018053
DO - 10.1145/3018009.3018053
M3 - Conference contribution
AN - SCOPUS:85014895730
T3 - ACM International Conference Proceeding Series
SP - 255
EP - 258
BT - Proceedings of 2016 the 2nd International Conference on Communication and Information Processing, ICCIP 2016
PB - Association for Computing Machinery
T2 - 2nd International Conference on Communication and Information Processing, ICCIP 2016
Y2 - 26 November 2016 through 29 November 2016
ER -