tremor suppression with shape memory alloy vibration absorber

86 Pages·2016·2.07 MB·English

by  Pushkar Deshpande

ABSTRACT
TREMOR SUPPRESSION WITH SHAPE MEMORY ALLOY
VIBRATION ABSORBER
Most people suffering from Parkinson’s hand tremor or involuntary
movement disorder face difficulties in their daily routine. In that respect, devices
like exoskeleton, glove, gyroscope, etc. are used for controlling the tremor. These
devices are bulky, heavy, costly, and inefficient in transmitting loads from devices
to the human hand. Medical treatments like deep brain stimulation and drug
therapy can be used to treat the patient; however, it may affect the patient’s life
and may produce a negative prolonged side effect.
The goal of this research study was to develop a vibration absorber system
to reduce the hand tremor. This device is a rectangular spring mass damper
system. It is a wearable and an inexpensive device. The spring of the device is
designed and manufactured manually. The equations were modelled for a
vibration absorber system and then analyzed using a MATLAB Simulink.
Simultaneously, experimental results were obtained using a prototype and a test
rig. It was found that the device reduces the hand tremor significantly.
Pushkar Deshpande
December 2016

TREMOR SUPPRESSION WITH SHAPE MEMORY ALLOY
VIBRATION ABSORBER

by
Pushkar Deshpande

A thesis
submitted in partial
fulfillment of the requirements for the degree of
Master of Science in Engineering
in the Lyles College of Engineering
California State University, Fresno
December 2016
APPROVED
For the Department of Mechanical Engineering:

We, the undersigned, certify that the thesis of the following student
meets the required standards of scholarship, format, and style of the
university and the student's graduate degree program for the
awarding of the master's degree.

Pushkar Deshpande
Thesis Author

The Nguyen (Chair) Mechanical Engineering

Farbod Khoshnoud Mechanical Engineering

Dare Afolabi Mechanical Engineering

For the University, Graduate Committee:

Dean, Division of Graduate Studies
AUTHORIZATION FOR REPRODUCTION
OF MASTER’S THESIS

X I grant permission for the reproduction of this thesis in part or in
its entirety without further authorization from me, on the
condition that the person or agency requesting reproduction
absorbs the cost and provides proper acknowledgment of
authorship.

Permission to reproduce this thesis in part or in its entirety must
be obtained from me.

Signature of thesis author:
ACKNOWLEDGMENTS
I would like to say thanks to my parents, friends, and my sister for their
support and encouragement. I would like to extend my sincere gratitude and
appreciation to my thesis advisor Dr. The Nguyen for his support, understanding,
and constructive guidance.
My sincere appreciation also extends to the members of my thesis
committee, Dr. Farbod Khoshnoud and Dr. Dare Afolabi, for their service,
support, and suggestions that helped to improve my work significantly.
Last but not the least, I want to express my thanks to all other faculty
members and classmates in the Mechanical Engineering Department for their
assistance and excellent lectures for my knowledge and life.
TABLE OF CONTENTS
Page
LIST OF FIGURES ................................................................................................ vii
NOMENCLATURE ................................................................................................ ix
CHAPTER 1: INTRODUCTION ............................................................................ 1
1.1 Background of the Problem ........................................................................ 1
1.2 Motivation of Thesis ................................................................................... 1
1.3 Introduction ................................................................................................. 2
1.4 Parkinson’s Disease (PD) ............................................................................ 4
1.5 Shape Memory Alloy .................................................................................. 4
1.6 Vibration Absorber...................................................................................... 6
CHAPTER 2: LITERATURE REVIEW ................................................................. 8
2.1 Overview of Hand Tremor .......................................................................... 8
2.2 Shape Memory Effect ............................................................................... 21
2.3. Description of Vibration .......................................................................... 24
CHAPTER 3: DESIGN AND TESTING OF SMA SPRING ............................... 29
3.1 Material Selection for Spring .................................................................... 29
3.2 Testing ....................................................................................................... 35
CHAPTER 4: MATHEMATICAL MODELING AND SIMULATION OF
DESIGN ...................................................................................................... 41
4.1 Mathematical Modeling ............................................................................ 41
4.2 Simulation ................................................................................................. 50
CHAPTER 5: RESULTS ....................................................................................... 54
CHAPTER 6: CONCLUSION ............................................................................... 58
REFERENCES ....................................................................................................... 59
APPENDIX ............................................................................................................ 71
LIST OF TABLES
Page
Table 1: Classification of Tremor [45] ..................................................................... 9
Table 2: Data used for calculating spring stiffness ................................................ 30
Table 3: Parts detail dimensions [111] ................................................................... 36
Table 4: Spring Testing Results At 25.9 degree Celsius ........................................ 72
Table 5: Spring Testing Results at 35 degree Celsius and 1 amp .......................... 73
Table 6: Spring Testing Results at 65 degree Celsius and 1.80 amp ..................... 74
LIST OF FIGURES
Page
Figure 1: Final version of WOTAS for the control of three human upper-limb
movements: flexion–extension of the elbow, flexion–extension of the
wrist and pronation–supination of the forearm [64]. .............................. 12
Figure 2: Low anti vibration glove-Polyco Tremor [66]. ....................................... 14
Figure 3: Gyroglove [67]. ....................................................................................... 15
Figure 4: Brace Model [80] .................................................................................... 16
Figure 5: Viscous Beam and cuff mounting [81]. .................................................. 16
Figure 6: Exoskeleton Orthosis [83]. ..................................................................... 17
Figure 7: Readi-Steadi glove [85]. ......................................................................... 18
Figure 8: Gyroglove [86]. ....................................................................................... 19
Figure 9: Good Grips weighted utensils [87]. ........................................................ 20
Figure 10: Pencil [88]. ............................................................................................ 20
Figure 11: Liftware spoon [74]. ............................................................................. 21
Figure 12: Shape Memory Effect. .......................................................................... 23
Figure 13: Shape Memory Effect [92] ................................................................... 23
Figure 14: Superelasticity of SMA [95] ................................................................. 24
Figure 15: Schematic diagram of mass spring damper system. ............................. 25
Figure 16: Free body diagram of mass spring damper system. .............................. 25
Figure 17: Vibration absorber system. ................................................................... 26
Figure 18: Vibration absorber types [93]. .............................................................. 27
Figure 19: Application of vibration absorber [94]. ................................................ 28
Figure 20: Vibration absorber device. .................................................................... 31
Figure 21: Martindale coil winding machine. ........................................................ 33
Figure 22: Spring made using Martindale coil winding machine .......................... 33
viii viii
Page
Figure 23: Experimental Setup for spring testing. ................................................. 37
Figure 24: Spring Testing with Dc Power supply .................................................. 37
Figure 25: Spring Testing Results .......................................................................... 38
Figure 26: Spring stiffness vs. temperature ............................................................ 39
Figure 27: Experimental setup of prototype. .......................................................... 39
Figure 28: Experimental setup with vibration absorber device. ............................. 40
Figure 29 (a): Prototype design (b) Mathematical modelling
diagram of the design .............................................................................. 41
Figure 30: Free body diagram of a system on vertical left side. ............................ 44
Figure 31: Free body diagram of a system on vertical right side. .......................... 44
Figure 32: Free body diagram of a system on horizontal top side. ........................ 45
Figure 33: Free body diagram of a system on horizontal bottom side. .................. 46
Figure 34: Free body diagram of an arm vertical side. .......................................... 46
Figure 35: Free body diagram of an arm horizontal side. ...................................... 47
Figure 36: Graphical method to find out dy ........................................................... 48
Figure 37: Simulation model of design .................................................................. 52
Figure 38: It represents a human arm without a vibration absorber system. ......... 53
Figure 39: Simulink model containing vertical, horizontal and rotation systems. . 53
Figure 40: Displacement of arm without vibration absorber system
in x-direction. .......................................................................................... 55
Figure 41: Displacement of arm without vibration absorber system
in y-direction. .......................................................................................... 55
Figure 42: Displacement of arm with vibration absorber system in x-direction. ... 56
Figure 43: Displacement of arm with vibration absorber system in y-direction. ... 56
Figure 44: Acceleration graph of dead weight on wood ........................................ 57
Figure 45: Acceleration graph with the vibration absorber. ................................... 57