Tremor is an involuntary movement that makes many patients suffer, and passive absorbers used in wearable robot are proved to be effective for tremor suppression. A particle damper is a kind of a passive vibration control device taking advantage of energy dissipation and momentum exchange caused by particle collisions. To apply particle damping technology in reducing tremor amplitude in the human hand, this study establishes a mechanical model of the particle damper for tremor suppression and obtains its steady-state solutions under simplified tremor excitation. The accuracy of steady-state solutions and the particle damper effectiveness in reducing tremor is validated by numerical simulations and experimental studies. To further explore its damping mechanism, some important damper parameters are then analyzed. It is shown that increasing the particle mass leads to an increase of the particle damper performance for tremor suppression, but it has an upper limit. The provided damping of the particle damper becomes approximately independent of the tremor frequency and the tremor amplitude within a certain range, which indicates that a particle damper with reasonable design is suitable for tremor suppression.

震颤是一种使许多患者痛苦的非自愿运动，可穿戴式机器人中使用的被动式减震器被证明可有效抑制震颤。颗粒阻尼器是一种被动振动控制装置，其利用了由颗粒碰撞引起的能量耗散和动量交换。为了将粒子阻尼技术应用于降低人手的震颤幅度，本研究建立了用于抑制震颤的粒子阻尼器的力学模型，并在简化的震颤激励下获得了其稳态解。数值模拟和实验研究验证了稳态解的准确性以及减小振动的颗粒阻尼器的有效性。为了进一步探索其阻尼机制，然后分析了一些重要的阻尼器参数。已经表明，增加颗粒质量导致用于抑制震颤的颗粒阻尼器性能的提高，但是具有上限。所提供的粒子阻尼器的阻尼在一定范围内变得与震颤频率和震颤振幅大致无关，这表明设计合理的粒子阻尼器适合于抑制震颤。