A smart glass to stabilize end-point vibration in the presence of hand tremor

Abstract

The present disclosure relates to a smart glass (101) to stabilize the glass's end-point vibration in the presence of hand tremor and make life easier for patients by reducing vibration effects and allowing the patient to drink without spilling.

Description

[0001] A Smart Glass to Stabilize End-Point Vibration in The Presence of Hand Tremor

[0002] The Field of the Invention

[0003] The present disclosure relates to a smart glass to stabilize the glass’s end-point vibration in the presence of hand tremor and make life easier for patients by reducing vibration effects and allowing the patient to drink without spilling.

[0004] Background of the Invention

[0005] Tremor is an involuntary, rhythmic muscle contraction leading to shaking movements in one or more parts of the body. It is a common movement disorder that most often affects the hands but can also occur in the arms, head, vocal cords, torso, and legs. Tremor may be intermittent (occurring at separate times, with breaks) or constant. It can occur sporadically (on its own) or happen as a result of another disorder. Tremor is a neuromotor disorder that causes involuntary oscillation movements in certain parts of the body, particularly the upper limbs. According to the World Health Organization (WHO), this disease affects more than 10 million people worldwide, and approximately 150 thousand people in Turkey. Living with tremor is a daily battle millions of people have to overcome each day. For many, essential tremor (ET) and other movement disorders, such as Parkinson’s disease, are most prevalent in the hands. This involuntary shaking can make completing daily tasks, like sipping from a glass or eating, incredibly difficult. However, thanks to modern medical technology, assistive devices for hand tremors are continuing to evolve and improve.

[0006] In the related art some robotic applications for Parkinson's tremor exist, such as a spoon, watch, gloves, and bracelets. However, the use of this smart glass to stabilize the glass’s endpoint vibration in the presence of hand tremor, which is subject of the invention is original.

[0007] The application numbered CN213608340U in the state of the art relates to a structure improvement technology for a special purpose drinking cup that can reduce or overcome the effects of shaking or tremor, and the typical use of this kind of cup includes rehabilitation training of Parkinson patients or convenience of life, especially acceleration induction selfcorrect the anti-shake cup. However, the said application does not mention a smart glass to stabilize the glass’s end-point vibration in the presence of hand tremor. The CN213608340U design can be classified as stabilizing technology. Our system belongs to the category of active stabilizing technologies. Our system is also anti-shake. Our system is outfitted with DC servomotor sets, each of which comprises a motor, reduction box, and encoder. In the CN213608340U design, there is no evidence of reduction gears or encoders for any of the motors. The use of reduction gears reduces the effects of rotary inertia and liquid inertia of the glass, allowing the coupling torques to be ignored in the robotic design. The mechanic designs, robotic mechanism advantages, sensory fusion design, relevant hardware and software differences, and actively controlled approach benefits distinguish our system.

[0008] In conclusion, the drawbacks explained above and the shortcomings in existing solutions to the problems have necessitated improvement in the related technical field.

[0009] Aim of the invention

[0010] The present invention relates to a smart glass to stabilize the glass’s end-point vibration in the presence of hand tremor.

[0011] The primary aim of the invention is to provide a smart glass that reduces hand vibration effects and allows patients to drink the liquid contained in the glass without spilling.

[0012] Another aim of the invention is to provide an easy-to-use device for tremor patients.

[0013] In order to achieve the aims, set out above and in the detailed explanation below, a smart glass to stabilize the glass’s end-point vibration in the presence of hand tremor and make life easier for patients by reducing vibration effects and allowing the patient to drink without spilling, characterized by comprising;

[0014] • DC motor 1 that allow the glass to be moved around horizontal direction,

[0015] • DC motor 2 that allow the glass to be moved around vertical direction,

[0016] • A sensor case 1 comprising an IMU sensor that determines the glass’s position and motors’ encoders, which measure the shaft positions of the DC motor 1 and DC motor 2,

[0017] • A sensor case 2 that comprises an IMU sensor that determines the glass’s position,

[0018] • Safety switches that uses in emergency to prevent physical harm to the smart glass,

[0019] • A glass holder that allows the smart glass to be held and comprises the DC motor 2 and two nests with safety switches, • A connection part 1 that allows the glass holder and connection part 2 to be connected to each other, and that holds two nests with safety switches,

[0020] • A connection part 2 that allows the DC motor 1 and connection part 3 to be connected to each other,

[0021] • Connection part 3 that allows the glass and DC motor to be connected to each other and bearing used to enable the rotation while reducing the friction,

[0022] • A connection part 4 that holds the upper part of the glass in one of the sides by supporting the said glass and connects DC motor shaft,

[0023] • A control unit that evaluates the data obtained from the I MU sensors and provide the DC motor 1 and DC motor 2 are driven for the liquid in the glass from spilling.

[0024] In a preferred embodiment of the invention, said connection part 1 comprises a screw that secures the DC motor 2 to the connection between parts glass holder and connection part 2.

[0025] In a preferred embodiment of the invention, said connection part 1 comprises said DC motor 2 that allows the system to be positioned vertical with the glass.

[0026] In a preferred embodiment of the invention said connection part 2 comprises said DC motor 1 that allows the system to be positioned horizontal with the glass.

[0027] The below drawings and the detailed description set out with reference to the accompanying drawings provide for a clearer understanding of the structural and characteristics properties and all benefits of the present invention; therefore, the evaluation needs to take these drawings and the detailed description into account.

[0028] Brief Description of the Drawing

[0029] Figure 1 shows representative a smart glass and smart glass scheme (X, Z coordinate axes).

[0030] Figure 2 shows all parts on the smart glass in detail.

[0031] Figure 3 shows schematic block diagram of the smart glass control system.

[0032] Figure 4 shows Inner Loop: DC motor dynamics and Pl-V position regulators.

[0033] The figures are not required to be scaled and the details which are not necessary for understanding the present invention may be neglected.

[0034] Description of the Part References 1. Sensor ease l

[0035] 2. Glass holder

[0036] 3. Connection part 1

[0037] 4. Connection part 2

[0038] 51. DC motor 1

[0039] 52. DC motor 2

[0040] 6. Connection part 3

[0041] 7. Sensor case 2

[0042] 8. Connection part 4

[0043] 9. Glass

[0044] 10. Safety switches

[0045] 11. Bearing

[0046] X. Coordinate axis

[0047] Z. Coordinate axis x|r Rotation angle around vertical axis Rotation angle around horizontal axis

[0048] 101. Smart glass

[0049] 102. DC motor position control with Pl-V

[0050] 103. IMU sensor

[0051] 104. Kinematic inversion

[0052] 105. Outer loop control

[0053] Detailed Description

[0054] The present invention relates to a smart glass (101) to stabilize the glass’s end-point vibration in the presence of hand tremor and make life easier for patients by reducing vibration effects and allowing the patient to drink without spilling.

[0055] The smart glass (101) proposes a novel robotic glass (101) that uses control methods for stabilization. The smart glass (101) uses two-degree of freedom system to control the glass (9) position. When a person wants to use the smart glass (101), the smart glass (101) collects real time data on the patient’s tremors. System used for smart glass (101), comprises of IMU sensors and encoders that must acquire the signals and provide feedback to two position regulators that control the smart glass (101). IMU sensor comprises a 3-axis gyroscope, accelerometer and magnetometer sensor. An embodiment of a smart glass (101) is shown in figure 1 . The smart glass (101) comprises, sensor cases (1 , 7), glass holder (2), connection parts (3, 4, 6, 8) and DC motors (DC motor 1 (51 ), DC motor 2 (52)). Sensor case 1 (1 ) comprises an IMU sensor that determines the glass’s (9) position and motor's encoders, which measure the shaft positions of the DC motors (DC motor 1 (51), DC motor 2 (52)). Glass holder (2) comprises a de (direct current) motor (52) that drives the system around vertical axis and two nests with safety switches (10) to prevent physical harm to the upper system when it is running in real time. Connection part 1 (3) allows the glass holder (2) and connection part 2 (4) to be connected to each other. Connection part 1 (3) comprises a screw that secures the DC motor 2 (52) to the connection between parts glass holder (2) and connection part 2 (4). On the left and right sides of the connection part 1 (3), two nets are visible to host limit switches and protect the system while the upper mechanisms move. When an unexpected event occurs, these switches shut down the driving system. Connection part 2 (4) comprises a DC motor 1 (51 ) that allows the system to be positioned horizontally with the glass (9). DC motor 1 (51) allows the glass (9) to be moved around horizontal direction. Connection part 4 (8) holds the upper part of the system in one of the sides by supporting the glass. Connection part 4 (8) and connection part 3 (6) are similar pieces that support the upper system. The DC motor 1 (51) is linked to connection part 3 (6), which in turn supports the glass as the system’s final endpoint with bearing (11) to decrease friction. Connection part 4 (8) connects shaft of DC motor 1 (51). Sensor case 2 (7) comprises an IMU sensor that determines the glass’s (9) position.

[0056] By evaluating the data obtained from the IMU sensors by the control unit, the DC motors (DC motor 1 (51), DC motor 2 (52)) are driven and the liquid in the smart glass (101 ) is prevented from spilling.

[0057] Fig. 3 shows a schematic block diagram of the smart glass (101) control system. The system angular references are for both vertical and horizontal movement, I|J and 4>, respectively. In this system, i|Frand 4>rstand for the reference inputs. r| / eand 4>eare outputs of the position control system. imand 4)mare measured angular references coming from the IMU sensors, while ipk and 4>k are angular references after the kinematic inversion. In Fig. 4, the block diagram shows the DC motor 1 (51) and DC motor 2 (52) reduced dynamics and position Pl- V regulators, one per each degree of freedom. Here, v| / * and 4>* are the position control inputs coming from the outer loop controlling the error occurred in the output of these regulators are \ e and 4>e. Kp, Kvand Ki are regulator’s gains. A and B are motor parameters of a reduced model that considers only motor mechanism’s dynamics.

Claims

CLAIMS1. A smart glass (101 ) to stabilize the glass’s end-point vibration in the presence of hand tremor and make life easier for patients by reducing vibration effects and allowing the patient to drink without spilling, characterized by comprising;• DC motor 1 (51 ) that allow the glass (9) to be moved around horizontal direction,• DC motor 2 (52) that allow the glass (9) to be moved around vertical direction,• a sensor case 1 (1) comprising an IMU sensor that determines the glass’s (9) position and motors' encoders, which measure the shaft positions of the DC motor 1 (51) and DC motor 2 (52),• a sensor case 2 (7) that comprises an IMU sensor that determines the glass’s (9) position,• safety switches (10) that uses in emergency to prevent physical harm to the smart glass (101),• a glass holder (2) that allows the smart glass (101) to be held and comprises the DC motor 2 (52) and, two nests with safety switches (10),• a connection part 1 (3) that allows the glass holder (2) and connection part 2 (4) to be connected to each other, and that holds two nests with safety switches,• a connection part 2 (4) that allows the DC motor 1 (51) and connection part 3 (6) to be connected to each other,• connection part 3 (6) that allows the glass (9) and DC motor 1 (51 ) to be connected to each other and bearing (11) used to enable the rotation while reducing the friction,• a connection part 4 (8) that holds the upper part of the glass (9) in one of the sides by supporting the said glass (9) and connects DC motor 1 (51) shaft,• a control unit that evaluates the data obtained from the IMU sensors and provide the DC motor 1 (51) and DC motor 2 (52) are driven for the liquid in the glass (9) from spilling.

2. The smart glass (101) according to claim 1 , characterised by comprising; said connection part 1 (3) comprises;• a screw that secures the DC motor 2 (52) to the connection between parts glass holder (2) and connection part 2 (4).

3. The smart glass (101) according to claim 1 , characterised by comprising; said connection part 1 (3) comprises:• said DC motor 2 (52) that allows the system (101 ) to be positioned vertical with the glass (9).

4. The smart glass (101) according to claim 1 , characterised by comprising; said connection part 2 (4) comprises;• said DC motor 1 (51) that allows the system (101) to be positioned horizontal with the glass (9).

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