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Data-driven tremor modeling and suppression control: a preliminary study. (a) Experimental setup for experiments, a participant with tremor holding a mug while the US transducer and IMU are strapped to the forearm to capture images of the FCR and wrist motion. (b) B-mode image with location of FCR marked. (c) Koopman-based tremor modeling prediction with experimental data. Figure adapted from [53, 54].
