Contents I. Introduction
Approximately 60% of those people affected by pathological tremor (PT) experience movement disability in their activities of daily living because of the involuntary, rhythmic oscillations of body parts [1], [2]. Amid the treatments for PT, exoskeletons for tremor suppression have shown advantages and application potentials due to their relatively low cost and the non invasive nature [3], [4]. Recent studies in this field are classified into three major strategies: active methods that apply active force on the human body [5], [6], [7], [8], passive methods that utilize mechanical dampers with a fixed value of damping [9], and semi-active methods utilizing mechanical dampers with an adjustable value of damping [10]. Active methods possess superiority such as their full suppression of tremors due to their abilities to exert active force on the body against tremors. However, these active methods did not exert active force on finger for resisting against tremor and instead only utilized the active force to follow the voluntary movement and relied on the passive resistance of exoskeletons to achieve tremor suppression.
