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A Self-Tunable Dynamic Vibration Absorber for

Tremor Suppression
Article February 2013
DOI: 10.2316/P.2013.791-039

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A Self-Tunable Dynamic Vibration Absorber:

Parkinson's Disease's Tremor Suppression
Teixeira, C. J. (carlosjft.18@gmai1.com)
Bicho, E. (estela.bicho@dei.uminho.pt)
Rocha, L. A. (lrocha@dei.uminho.pt)

Gago, M. F. (miguelfgago@gmai1.com)
Neurology Service, Vale do Ave Hospital Centre,
Guimariies, Portugal

Centro ALGORITMl, University of Minho, Campus

Azurem, 4800-058 Guimariies, Portugal

Abstract-An approach to Parkinson's Disease's (PD) tremor

suppression based on a self-tunable Dynamic Vibration Absorber
(DVA) was studied in this research, where two configurations,
differed by a damping element, were addressed.
The DVA was designed, mathematically modeled, simulated and
experimentally validated when attached to a wood beam, coupled
to a vibration exciter, which was used as an oscillating body. The
control law for self-tuning was implemented and its effectiveness
was investigated through experiments.
Two types of external accelerations were used to test the system's
performance. The first one was sinusoidal oscillations, where the
input

frequency

could

be

varied;

and

the

second

PD's

waveform collected by sensors in patients and reproduced by a

vibration exciter. The final configurations of the self-tunable
DVA system was able to reduce oscillations in the order of 90%
and 50%, respectively, for these tests.

Index Terms-Parkinson's Disease, Tremor Suppression, Dynamic

Vibration Absorber, Biomedical Applications, Data and Signal
Acquisition, Dynamic Modeling, Simulation

I.

CONTEXT

Characterized by muscle rigidity, tremor and lost of balance

and gait, Parkinson's Disease (PD) affects negatively the
patient's life [1-9]. Pharmacology, pallidotomy and deep brain
stimulation are possible medical treatments for PD [1-4].
Pharmacologic therapy has side effects, it's efficacy
decreases over time and its schedule isn't followed by patients
[10]. The ablation of the Globus Pallidus Internus (GPi), or
pallidotomy, is an invasive neurosurgery with high potential
risks of permanent neurological deficits [1-4], [11].
Deep Brain Stimulation (DBS) is a neurosurgical procedure
which uses microelectrodes to electronically stimulate certain
areas of the brain [12], [l3], relieving neurologic disorders
such as PD [13-17]. Unlike pallidotomy, it is non-destructive
and reversible. However, it's an expensive solution which also
has risks of infection [12]. DBS efficacy depends on careful
adjustments and high levels of precision [2], [l3], [17]. Patients
with cognitive or psychiatric difficulties are not eligible for
DBS treatment [12-15].

These limitations on available treatment options for PD

suggest that there are opportunities for the development of a
non-invasive and reliable approach to attenuate PD's tremors at
the musculoskeletal level [3], [4], [8]. In this vein, our research
aims to develop a device for the suppression of tremors on the
upper limb. Specifically, we propose an approach based on a
Dynamic Vibration Absorber (DVA).
A DVA consists in the assembling of a secondary mass to
an oscillating system using a spring in order to mitigate its
vibrations and thus reduce the maximum displacement [18-24].
The DVA is more effective when the forcing frequency is
equal to its natural (or resonant) frequency [18-21]. Adding a
damping element in parallel with the spring results in a wider
minimized frequency range [22], [23].
DVA's have been analyzed and experimentally validated in
the literature, either using a wood beam exposed to sinusoidal
tremors [19-21] or a biomechanical model of the human arm
exposed to PD alike tremors [18]. By carefully tuning of the
DVA through proper selection of the mechanical spring, these
researches have managed to suppress the tremor's amplitude.
However, the DVAs were not self-tunable, as they required the
tunning point to be changed manually and on the absence of
oscillations.
The work presented here introduces a self tunable DVA
[25] whose advantage, compared to the existing works, is the
ability to adapt itself by changing its resonant frequency and
thus follow the forcing frequency of the oscillating corpus.
Others have implemented a tunable DVA by varying the
stiffness (see e.g. [26-28]). An alternative approach, chosen by
us, is to change the DVA's mass. This is also, to the best of our
knowledge, a novelty. When comparing to a stiffness change
auto-tunable system, a mass tunable DVA is easier to tune. In
addition, the components needed to change the mass are lighter
and smaller than the ones required to vary the length of a steel
beam. A fluidic-system with micro-pumps makes it possible to
increase/reduce the weight of the DVA's mass.
In this paper, a Self-tunable DVA is analyzed, simulated,
constructed and tested with and without a damping element.
Each one of these phases is described in the following sections.

II.
A.

20 ,---,-----,--,--,

ANALYSIS

-40

DVA model

-60

A DVA is composed by a mass (m2), a spring (k2) and a

damper (b2); the main corpus model includes m" kl and bl, and
therefore the overall system can be modeled as illustrated in
Fig. 1.

80
-100
-120

Here the main corpus and the DVA's mass's movement are
expressed by x(t) and y(t), respectively. Analyzing this model,
it is noticeable that the latter is influenced by x(t). Equation (1)
expresses the DVA's differential equation of motion. Using (1),
(2) can be obtained, which expresses the DVA's resonant
frequency.

-140

-180
-200

mzy"

(t)

-b2

[y'(t) - x' (t)] - k2 [Yet) - x(t)]

'----'------'------'------'-----"'0:------"
'2:------"
14,...---'
Frequency (Hz)

Figure 2 - Main carpus' Bode plot with (green) and without (blue) DVA

20,-----,--'-----,----,--'------,-----,------,

40

(2)
80

If the DVA is an Un-dampen one (b2 0), when exposed to

(On, its output (y(t)) has its maximum magnitude. At this
frequency, the phase delay between x(t) and y(t) is -90. This
means that, when the main corpus' displacement is decreasing,
the secondary mass' displacement is at its maximum and vice
versa. This property allows the DVA to reduce x(t) oscillations
(see Fig. 2). The overall system has two magnitude peaks in its
output since it is a two degrees-of-freedom system.
=

Opting to add a damping element (b2tO) in parallel with the

spring, two aspects of the DVA system are influenced. Firstly,
the magnitude at the resonant frequency is smaller. Secondly,
for frequencies near it, the phase delay is approximately _90.
This means that the DVA is able to reduce a wider frequency
range, but with less efficiency. Fig. 3 depicts these effects.
-+--...,-.....

L...--'"

tv(t)

tx(t)

-100
-120
-140
-160
-180
-200

Frequency (Hz)

Figure 3 - Main corpus' Bode plot without (red) DVA, with

(blue) and Dampen (green) DVA

B.

an

Un-dampen

Mass Ratio Effects

The overall system's equations can be used to compute the

main corpus' displacement x(t) for each set of the system's
parameters. One feature tested was the relation between the
primary (mj) and the secondary (m2) masses:

(3)
A characteristic of the system is the existence of a mass
ratio (f.1) that results in better tremor absorption. Fig. 4
expresses the relation between the optimum mass ratio and the
external frequency applied to the system.
C.

Figure I - Main Corpus + DVA model

7---13-:':-----!:--:"O:--:'11:---:':'2,-"

Components Choice

The development of a Self-Tunable DVA capable of

reducing PD's tremors is the main goal of this work. PD's
tremors occur between 3 and 7 Hz for 75% of the patients [5].

0.34 ,----,-----r--,
Arm

0.335

0.33
o

g:

0.325

0.32

'"
E
E

Arm

Inpu1 data

0.315

0.31

3.5

4.5

5.5

External frequency (Hz)

6.5

Figure 4 Optimum f.l for each Extemal Frequency

-

PATIENT'S CHARACTERISTICS

TABLE I.
Patient

Gender

Age

Tremor's Freq.

Female

56

5.317Hz

Male

60

5.049 Hz

Male

40

4.533 Hz

Here, acceleration data were collected in the wrist and

elbow of three PD patients (A C). The measured tremors'
predominant frequency was computed using Fast Fourier
Transform (FFT) and are shown in Table I, as well as some of
the patients' infonnation. From these values an interval of
possible tunable frequencies for the DVA within 4 and 6 Hz
was chosen. Fig. 4 shows that a mass ratio (J.I) of 0.3154 should
be selected for this range of frequencies. As the average weight
of the human forearm is 1.088 kg [29], [30], a range of 0.2 to
0.4 kg was selected for the DVA mass. A spring and damping
rates of, respectively, 270 N/m and 1 Ns/m enable minimizing
frequencies within the selected range.
III.

IMPLEMENTATlON

The oscillating body was implemented with a wood beam,

whose movements were generated by a Tektronix arbitrary
function generator and reproduced by a Vibration Exciter from
Bruel Kjaer. In order to vary the DVA's mass, a fluidic system
with micro-pumps (MP-5 model from Bartels Microtechnik)
was used. The DVA's schematic is illustrated in Fig. 5.
An Arduino board with an ATMEGA328-P microcontroller
acquires the main corpus' accelerations from a LIS331DLH
accelerometer via I2C protocol and sends them (using RS232)
to a Matlab Script which implements the control law of the
system. The control law computes whether the DVA mass
should be increased or decreased and sends the result to the
microcontroller, which actuates on the hydraulic system via
relays. The overall experimental setup is illustrated in Fig. 6.

Figure 6 Overall System

-

A.

Control Law

The control law uses an initial condition for proper

operation: the DVA's container should always start empty,
requiring its mass to increase. An analysis to the root main
square of the amplitude at the oscillation's predominant
.
frequency over time, enables the control law to compute If the
water flux should be changed. Fig. 7 shows this evolution for a
5 Hz external acceleration while the DVA's mass is varying. A
valley is visible when the DVA is tuned.
IV.

RESULTS

For further comparison, a bode plot of the main corpus in

the absence of the DVA was measured. Then, a magnitude
measurement was carried out when the attached DVA's
container was empty and full, resulting in a frequency range
within 4.2 and 6.3 Hz. The same experiment was made for a
dampen DVA and a range between 4.5 and 6 Hz was obtained.
A.

Un-Dampen DVA

For experimental validation of the developed control law,

the un-dampen configuration of the DVA was tested using an
harmonic external force. Tests were performed to check if the
control law was able to tune the DVA's natural frequency to the
external one while measuring the main corpus' oscillation's
amplitude. This test was made for various external frequencies
and the obtained amplitude evolutions are illustrated in Fig. 8.
For external frequencies within the specified range, the self
tunable DVA was able to suppress the oscillations.

0,1

JW,

0,09

,r

O, OS

-S 0,07
=:. 0,05
E

'!

-"

0,05

S 0,04
E!

:i.

0,03

0,02
0,01

'"

0,2

'-/

0,00

0,10

0,20

0,30

0,40
0,50
Time (h)

0,50

0,70

0,6

0,4

-1

0,8

Ti m e ( h)

Figure 9 - Acceleration's amplitude when varying the external frequency

0,08

0,80

i 0,1

i!

0,02

c(

0,06

/\
/ \
\
\
\
\
'\
"'-.r--- "'-S-

0,04

.iI

0,12 -1----,1'11.---------------

-; 0,12
! 0,1
...
0,08
'"
0,06
i!

J
I
/
/

Figure 7 - Acceleration's amplitude while emptying the container

0,14 -,---

...
0,08

..:

0,14

0,07

-; 0,06
1
'i 0,05
E

+-:A--ft't_+_----'--__l

1---'t----;_:_-,---t.:=J ---

..
-------0,04 +-----"----:/-,..._+____"<:

'!
-"
.511

-Ace's Am plitude
-RMS

0,04
0,03

JI
"

0,02

r-

- ll.!
II.
lUVvvUUWWV

___,
0 -1---==- -.---="'--__,_--_=.:;----=0,00
0,10
0,20
0,50
0,60
0,30
0,40
Tim., (h)

:"" H

l I

0,01

:_ -:__----0,02 --""'==='<_--->...:-

12

14

16

18

Figure 10 - Acceleration's amplitude while tuning the OVA, for patient A

OBIAINED MAGNITUDE REDUCTION

TABLE II.

Further experimental tests were performed where the

external frequency was changed and the obtained amplitude
evolution is shown in Fig. 9. It is noticeable that the control
law was able to continually adapt the DVA to the external
accelerations that the main corpus was subjected.

The DVA's lack of efficiency for patient B's tremors, when

compared to the other results is due to the amplitude similarity
in frequencies around the predominant one. These emerge as
new ones, leading the control law to tune the DVA to them.
Despite this fact, results proved that the control law was
capable to change the DVA's resonant frequency and reduce
significantly typical PD's tremors.

10

Time(min)

Figure 8 - Acceleration's amplitude for various frequencies

Next, the collected patient's data were applied to the

Vibration Exciter and the DVA and its control law were tested
for these input signals. Fig. 10 depicts the evolution of the main
corpus' acceleration's amplitude and its root main square value
for patient A's tremors while the DVA was being tuned. In this
case, a magnitude reduction of 51.35% was obtained. The same
test was carried out for tremors from the other patients. The
obtained results are shown in Table 2.

---

B.

Patient

Reduction

51.35 %

26.63 %

60.46 %

Dampen DVA

For comparison, the damping element was attached to the

DVA and this configuration was firstly tested for sinusoidal
signals. The control law was able to tune the system to
frequencies within the specified range. For each test, amplitude
was measured with a tuned DVA. Fig. 11 depicts the obtained
system's bode plot without the DVA and for both tuned
configurations.
Experimental validation was carried out for external signals
from the collected PD's tremors, whose amplitude the DVA
was able to reduce significantly after being tuned by the control
law. Fig. 12 illustrates a comparison between the measured
amplitudes for PD A's tremors in each configuration. From
these results, reductions for sinusoidal and patient A's tremors
were computed and are shown in Table III.

0,2
0,18

:; 0,16

i 0,14
..
0,12

W ithoutDVA
c-

r-

'!
."
S
"
.III
"

- Un-DampeDVA

O,OS

--

0,06

.......-

-DampeDVA

01 1

---

The fabricated DVA has a tuning range within 4.2 and 6.3
Hz, for an Un-Dampen configuration and within 4.5 and 6 Hz,
for the Dampen one. Both ranges cover the frequencies of the
PD's resting tremors.

----

/
/'"

Both configurations were experimentally tested with

sinusoidal and PD alike tremors applied to the beam and the
results demonstrate the approaches to be effective. The
obtained reductions for patient A were of 51.35 and 57 % for
the Un-Dampen and Dampen configurations, respectively.
These results are in accordance with the simulation analysis of
the system.

0,04
0,02

----6,1

5,6

5,1

4,6

4,1

Despite the large dimensions of the prototype, if re

constructed using other configuration for the fluidic system, the
DVA can turn to be a wearable product Human arm's
parameters weren't taken into account when selecting the
oscillating corpus used to test the self-tunable DVA. If the
system's performance in a more realistic model is proved to be
satisfactory, this approach could be a cheap alternative for
tremor suppression that can improve the patient's quality of
life. The DVA can also be re-dimensioned for applications
where tremor reduction could be beneficial.

Externa l Freq(Hz'

Figure 11 - System's Bode plot without (blue) DVA and with a Dampen
(green) and Un-Dampen (red) DVA
0,05
0,045
S

0,04

i 0,035

...
.. 0,03
E
0,025
."
; 0,02
l!

.III 0I 015

VI

0,01

"1

,
t \
"If "'I" 'f\/"

0,005

1\ 1\
11

y\

'V

AC KNOWLED GMENT (HEADIN G 5)

'
"IV '1f ...,.

1,5

0,5

-DampeDVA

'"

Un-DampeDVA

-W ithoutDVA

2,5

V
'I

'\
j

'J

3,5

This work has been partially fmanced by FP7 Marie Curie

ITN - NETT (project n0289146) and by FEDER funds through
COMPETE and national funds by FCT in the framework of
the project FCOMP-O1-0124-FEDER-022674.
4,5

Time(mi,

Figure 12 - Acceleration's amplitude without (blue) DVA and with a Dampen

(green) and Un-Dampen (red) DVA
TABLE lll.

OBTAINED MAGNITUDE REDUCTION

OVA
configuration

Sinusoidal

Patient A's
tremors

Un-Dampen

98 %

51.35 %

Dampen

90.44 %

57 %

An analysis to the experimental results show an agreement

with the previous study made via simulations comparing the
two DVA configurations (see Fig. 3). When the damping
element is added to the system, it is less efficient at reducing
signals whose frequency is equal to its resonant one, resulting
in less reduction for sinusoidal tremors. On the other hand, but
very important, the damper expands the range of suppressed
frequencies around the DVA's tunning point For that reason
the Dampen configuration reduces PD alike tremors more
efficiently than the Un-Dampen one.
v.

CONCLUSIONS

A self-tunable device potentially capable of reducing PD's

tremors was presented here. The approach is based on a
Dynamic Vibration Absorber, whose resonant frequency is
tuned using piezoelectric micro-pumps in order to vary its
mass. The system was experimentally validated using a wood
beam as the oscillating corpus.

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