Reducing Hand Tremors Using Active Controller

The study focuses on addressing involuntary hand tremors, a prevalent neurological disorder that hinders various tasks. Current research emphasizes methods with minimal side effects to alleviate these tremors. This investigation introduces an electromechanical system specifically designed to actively mitigate involuntary hand tremors, with one potential application being a tremor–reducing spoon. The system employs two actuators for controlling two degrees of freedom and incorporates a gyroscope to detect hand tremors. A comprehensive analysis of the physical modeling, encompassing the kinematics and dynamics of the system, is conducted to establish the final system model. Subsequently, a controller is developed in two modes—position control and angular acceleration control—to improve the model's performance. Practical experimentation is then undertaken to assess the system's performance, particularly its response to incoming vibrations.