Intelligent anti-shaking and anti-scalding spoon for assisting old people in eating with hand shaking

Abstract

This invention relates to the field of medical device technology, and in particular discloses an intelligent anti-shake and anti-scalding spoon to assist elderly people with tremors in eating. It features a handheld handle unit and a detachable functional spoon head unit. A temperature sensor is installed at the center bottom of the spoon head in the functional spoon head unit. The inner chamber of the handheld handle unit is divided into compartments from front to back, each housing a dual-axis decoupling stabilization mechanism, a control unit, a power supply battery, and a display screen. This constructs a multi-dimensional active anti-scalding warning system, completely avoiding food safety risks and preventing burns to the mouth and esophagus caused by hand movement incoordination or impaired perception, significantly improving dining safety. It also optimizes the age-friendly human-computer interaction experience, breaking down digital barriers. Without relying on a mobile app, patients can intuitively view food temperature in real time while eating, alleviating dining anxiety. Simultaneously, the rear-positioned handle structure design and anti-slip handle conform to the physiological grip habits of the elderly, preventing slippage and providing high comfort.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an intelligent anti-shake and anti-scalding spoon to assist elderly people with tremors in eating. Background Technology

[0002] Parkinson's disease (PD) is a progressive neurodegenerative disease characterized primarily by motor symptoms. Among these motor symptoms, resting tremor (i.e., "hand tremor") is one of the most distinctive clinical manifestations, appearing in approximately 70%-80% of patients in the early stages of the disease. Hand tremors have the most direct and significant impact on the daily lives of Parkinson's patients: impaired fine motor control leads to significant difficulties in performing daily activities such as writing, eating, dressing, buttoning clothes, and using utensils. During eating, hand tremors can cause food to spill or soup to overflow, making patients feel embarrassed and uncomfortable when dining in public, and consequently, they may actively avoid social situations.

[0003] Currently, for Parkinson's patients and those with hand tremors, the mainstream assistive solutions in clinical practice and the market are still limited to simple mechanical stabilization. Common technical approaches generally use a three-axis gyroscope to monitor hand posture and drive a servo motor for reverse angle compensation. This type of technology has the following significant drawbacks: 1. Lack of safety monitoring: Parkinson's patients often experience autonomic dysfunction, resulting in decreased sensitivity to food temperature. Existing anti-shake spoons do not integrate a real-time monitoring and feedback mechanism for food temperature. When the food temperature exceeds the tolerance threshold of the oral mucosa, patients often cannot detect it in time, and due to hand movement disorder, they cannot quickly withdraw when they feel burning pain, which can easily cause burns.

[0004] 2. Disconnect between interaction logic and age-friendly design: Existing intelligent assistive tools often rely on mobile apps for data synchronization, lacking intuitive real-time feedback. Patients cannot directly know the food temperature and temperature reminders at the eating site, and cannot be given safety reminders.

[0005] 3. Existing technology uses three-axis monitoring of hand posture and drives servo motors for reverse angle compensation. In addition, the instantaneous acceleration interference generated when the anti-shake motor corrects at high speed results in extremely high noise in the analog signal collected by the sensor. Summary of the Invention

[0006] This invention discloses an intelligent anti-shake and anti-scalding spoon to assist elderly people with shaky hands in eating, aiming to solve the technical problems existing in the prior art.

[0007] The present invention adopts the following technical solution: A smart anti-shake and anti-scalding spoon to assist elderly people with shaky hands in eating, characterized in that: it includes a hand handle unit and a detachable functional spoon head unit; a temperature sensor is installed at the bottom center of the spoon head of the functional spoon head unit; the inner cavity of the hand handle unit is divided from front to back into an actuator isolation chamber, a central control and display chamber, and a power source chamber. The power source compartment is equipped with a power supply battery; the actuator isolation compartment is equipped with a dual-axis decoupling stabilization mechanism to counteract hand tremors and stabilize the spoon head, the dual-axis decoupling stabilization mechanism including a pitch axis motor and a roll axis motor that are vertically nested and integrated; the central control and display compartment is equipped with a control unit, and a display screen is installed on the top wall of the central control and display compartment. The control unit includes an IMU sensor, a dual-channel motor drive chip, and a main controller that are mounted on a circuit board and interconnected. The main controller is signal-connected to the display screen, the dual-axis decoupling stabilization mechanism, and the temperature sensor. A speaker is installed on the end side wall of the power source compartment, and the speaker is controlled and connected to the main controller.

[0008] In some embodiments, the functional spoon head unit further includes a connecting rod integrally formed with the spoon head, and a through hole is formed inside the connecting rod; the spoon head includes an upper spoon wall, a lower spoon wall and an intermediate gap between the two, the temperature sensor is encapsulated inside the intermediate gap and is fitted to the upper spoon wall, and the connecting wire of the temperature sensor passes through the through hole of the connecting rod and is electrically connected to the main controller.

[0009] In some embodiments, a microcontroller is integrated within the housing of the display screen. The temperature sensor collects food temperature signals in real time and transmits them to the main controller. The main controller is signal-connected to the microcontroller, and the microcontroller is electrically connected to the display screen to control the display screen to display temperature values ​​in real time. The main controller can also control the display screen to switch between different background warning colors according to preset multiple temperature thresholds.

[0010] In some embodiments, the machine presets three temperature control thresholds, and the specific control logic is as follows: When the food temperature value t collected by the temperature sensor is less than 50℃, the main controller controls the display screen to display the real-time temperature value, and the display screen shows a stable green background. When the food temperature value collected by the temperature sensor meets the condition of 50℃≤t≤55℃, the main controller controls the display screen to display the real-time temperature value, and the display screen displays a yellow background and flashes a warning. When the temperature sensor collects a food temperature value t > 55℃, the main controller controls the display screen to show the real-time temperature value and switches to a red background with flashing warning. At the same time, the speaker is triggered to start voice broadcast, realizing anti-scalding voice warning.

[0011] In some embodiments, the pitch axis of the pitch axis motor is arranged vertically, and the output end of the pitch axis motor is equipped with a pitch motor reducer. The output end of the pitch motor reducer is fixedly mounted with a mounting bracket. The mounting bracket is horizontally fixedly mounted with a roll axis motor. The output end of the roll axis motor is equipped with a coaxial reducer. The output end of the coaxial reducer is fixedly connected to a connecting rod. The dual-axis linkage achieves bidirectional anti-shake stabilization of the spoon head.

[0012] In some embodiments, the pitch axis motor and the roll axis motor are both connected to the dual-channel motor driver chip via shielded twisted-pair cables. The dual-channel motor driver chip is also electrically connected to the main controller via shielded twisted-pair cables to avoid signal interference and ensure anti-shake control accuracy.

[0013] In some embodiments, the central control and display compartment is located in the middle of the handheld handle unit, a support plate is fixedly mounted on the bottom of the inner cavity, the circuit board is mounted on the support plate, the IMU sensor is connected to the main controller via an I2C high-speed bus, the main controller is mounted in the middle section of the circuit board, and the IMU sensor is rigidly fixed on the circuit board and corresponds to the geometric center position of the inner wall of the handheld handle; the IMU sensor communicates with the main controller via an I2C high-speed bus to capture the angular velocity and acceleration signals of hand tremors in real time and transmit them to the main controller.

[0014] In some embodiments, the hand handle unit includes a spoon handle housing and an inner cavity disposed inside the spoon handle housing; the spoon handle housing includes a rigid housing and an anti-slip soft rubber sleeve fitted on the outside of the rigid housing; the partitions separating the compartments are provided with through holes for wiring and compartment communication; the display screen is embedded in the top wall of the central control and display compartments, and the outside of the display screen is covered with a transparent protective cover to prevent dust and damage, while ensuring the visibility of temperature information.

[0015] In some embodiments, an LED light is also installed on the inner side of the top wall of the central control and display compartment, and the LED light is connected to the main controller; a Bluetooth module is also installed on the circuit board.

[0016] Beneficial effects:

[0017] This invention discloses an intelligent anti-shake and anti-scalding spoon to assist elderly people with trembling hands in eating. Compared with the prior art, this invention has the following significant advantages: First, it constructs a multi-dimensional proactive anti-scalding early warning system to completely avoid food safety risks. This invention incorporates a high-sensitivity temperature sensor in the spoon head, combined with a three-level temperature graded early warning mechanism. Through a dual reminder method of visual screen color warning and voice broadcast, it compensates for the physiological defects of Parkinson's patients, such as decreased temperature perception and slowed reaction, and provides early warning of hot food, avoiding burns to the mouth and esophagus caused by hand movement disorders and dulled perception, thus significantly improving dining safety.

[0018] Secondly, it optimizes the human-computer interaction experience for the elderly and breaks down barriers to digital use. This invention integrates a localized OLED display terminal, eliminating the need for a mobile app. Patients can view the food temperature in real time while eating, alleviating mealtime anxiety. At the same time, the rear-positioned handle structure reduces the burden on hand muscles, and the asymmetrical anti-slip handle conforms to the physiological grip habits of the elderly, preventing slippage and providing high comfort.

[0019] Third, the modular integrated design balances practicality, economy, and durability. This invention features a detachable spoon head design, facilitating high-temperature sterilization, cleaning, and maintenance, and is compatible with various cutlery heads. Through a partitioned compartment layout, shielded wiring, and low-power control logic, it achieves multi-functional integration of anti-shake, temperature measurement, data monitoring, and intelligent early warning within a miniaturized spoon handle space, resolving the contradiction between multi-functional integration and size, center of gravity, and power consumption in traditional devices. The low-power design allows for 3-5 days of continuous use on a single charge, resulting in low maintenance costs and facilitating market promotion and widespread application in homes and elderly care facilities. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below, constituting a part of the present invention. The illustrative embodiments of the present invention and their descriptions explain the present invention and do not constitute an improper limitation of the present invention; in the accompanying drawings: Figure 1 A schematic diagram of the technical solution for an intelligent anti-shake and anti-scalding spoon to assist elderly people with trembling hands in eating, provided in an embodiment of the present invention; Figure 2 for Figure 1 View from direction A; Figure 3 for Figure 1 Top view; Figure 4 This is a schematic diagram of the technical solution structure of the biaxial decoupling stabilization mechanism provided in an embodiment of the present invention; Figure 5 for Figure 1 Enlarged view of I.

[0021] In the picture: Functional spoon head unit 1; Spoon head 11; Upper spoon wall 111; Lower spoon wall 112; Connecting rod 12; Inner through hole 121; Temperature sensor 2; Handle unit 3; Spoon handle housing 31; Hard housing 311; Soft rubber sleeve 312; Support plate 313; Inner chamber 32; Actuator isolation chamber 321; Central control and display chamber 322; Power source chamber 323; Partition plate 324; Through hole 325; Display screen 33; Protective cover 34; Speaker 35; Power socket 36; LED light 37; Dual-axis decoupling and stabilization mechanism 4; Pitch axis motor 41; Pitch axis 411; Pitch motor reducer 42; Mounting bracket 43; Roll axis motor 44; Roll axis 441; Reducer 45; Control unit 5; Circuit board 51; IMU sensor 52; Main controller 53; Microcontroller 54; Dual-channel motor drive chip 55; I2C high-speed bus 6; Power module 7; Power cord 8. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. In the description of the present invention, it should be noted that the term "comprising" mentioned in the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to"; "several" refers to no less than two.

[0023] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments; based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] The technical solutions disclosed in this invention, such as... Figures 1-5 As shown: A smart anti-shake and anti-scalding spoon to assist elderly people with shaky hands in eating includes a hand handle unit 3 and a detachable functional spoon head unit 1; a temperature sensor 2 is installed at the bottom center of the spoon head 11 of the functional spoon head unit 1; the inner cavity 32 of the hand handle unit 3 is divided into an actuator isolation chamber 321, a central control and display chamber 322 and a power source chamber 323 from front to back.

[0026] The power source compartment 323 is equipped with an I power module 7; the actuator isolation compartment 321 is equipped with a dual-axis decoupling stabilization mechanism 4 for counteracting hand tremors and stabilizing the spoon head, the dual-axis decoupling stabilization mechanism 4 includes a pitch axis motor 41 and a roll axis motor 42 vertically nested and integrated; the central control and display compartment 322 is equipped with a control unit 5, and a display screen 33 is installed on the top wall of the central control and display compartment 322. The control unit 5 includes an IMU sensor 52, a dual-channel motor drive chip 55, and a main controller 53 installed on and interconnected on a circuit board 51. The main controller 53 is signal-connected to the display screen 33, the dual-axis decoupling stabilization mechanism 4, and the temperature sensor 5. A speaker 35 is installed on the end side wall of the power source compartment 323, and the speaker 35 is controlled and connected to the main controller 53.

[0027] Preferred embodiments of the present invention, such as Figures 1-5 As shown: A smart anti-shake and anti-scalding spoon to assist elderly people with shaky hands in eating includes a hand handle unit 3 and a detachable functional spoon head unit 1.

[0028] The functional spoon head unit 1 includes a spoon head 11 and a connecting rod 12 integrally formed with the spoon head. The connecting rod 12 has a through hole 121 inside to facilitate the layout of sensor circuitry. The spoon head 11 adopts a double-wall structure, including an upper spoon wall 111, a lower spoon wall 112, and an intermediate gap between the two. The temperature sensor 2 is encapsulated inside the intermediate gap and is fitted to the upper spoon wall 111. The temperature sensor 2 is located at the bottom center of the spoon head 11. In this embodiment, the temperature sensor 2 is an NTC thermistor type temperature sensor encapsulated inside the gap and tightly fitted to the upper spoon wall 111, which has a fast thermal response speed and accurate temperature measurement. The connecting wire of the temperature sensor 2 passes through the through hole 121 of the connecting rod 12 and is electrically connected to the main controller 53. The connecting rod 12 is detachably connected to the dual-axis decoupling and stabilization mechanism 4 through the end interface to realize real-time transmission of temperature signals, while meeting the requirements of detachable spoon head 11 and high-temperature sterilization.

[0029] The handle unit 3's spoon handle housing 31 includes a hard shell 311 injection-molded from medical-grade ABS plastic and an outer anti-slip soft rubber sleeve 312. The overall structure is an elliptical cylinder with a cross-sectional length of 3.5–4.0 cm, conforming to the gripping characteristics of elderly patients, preventing slippage and loss. The handle unit 3 includes the spoon handle housing 31 and an inner chamber 32 located inside the housing. The inner chamber 32 is divided from front to back into an actuator isolation compartment 321, a central control and display compartment 322, and a power source compartment 323. The partitions 324 separating each compartment have through holes 325 for wiring and compartment communication. This partitioned structure effectively isolates the dual-axis decoupling and stabilization mechanism 4, the control unit 5, and the power module 7, reducing electromagnetic interference and optimizing the overall center of gravity distribution by shifting the center of gravity towards the battery position at the rear of the handle, offsetting the cantilever torque of the front actuator, and improving grip stability.

[0030] The display screen 33 is embedded in the top wall of the central control and display compartment 322, and the outside of the display screen is covered with a high-transparency polycarbonate (PC) protective cover. The transparent protective cover not only prevents dust and damage, but also ensures the visibility of temperature information.

[0031] The display screen 33 has a microcontroller 54 integrated inside its housing. The temperature sensor 2 collects food temperature signals in real time and transmits them to the main controller 53. The main controller 53 is signal-connected to the microcontroller 54, and the microcontroller 54 is electrically connected to the display screen 33. It is used to control the display screen 33 to display temperature values ​​in real time. The main controller 53 can control the display screen 33 to switch different background warning colors according to preset multiple temperature thresholds. The core of the microcontroller 54 is a low-power MCU.

[0032] The machine has three preset temperature control thresholds, and the specific control logic is as follows: When the food temperature value t collected by temperature sensor 2 is less than 50℃, the main controller 53 controls the display screen 33 to display the real-time temperature value, and the display screen 33 presents a stable green background.

[0033] The NTC (thermistor) sensor of the spoon head 11 provides real-time feedback voltage signals, which are then converted into temperature values ​​t by the MCU (microcontroller) after analog-to-digital conversion (ADC). When the food temperature value collected by the temperature sensor 2 meets the condition 50℃≤t≤55℃, the main controller 53 controls the display screen 33 to display the real-time temperature value. The display screen 33 displays a yellow background and flashes as a warning. An LED light 37 is installed on the inner wall of the central control and display compartment 322. The LED light 37 is connected to the main controller 53, and the emitted yellow flashing light is emitted through the transparent protective cover 34 so that the patient can see it. When the food temperature value t collected by the temperature sensor 2 is greater than 55℃, the main controller 53 controls the display screen 33 to display the real-time temperature value and switches to displaying a red background and flashing as a warning. The main controller 53 controls the LED light 37 to switch to red flashing light. At the same time, the main controller 53 triggers the speaker 35 to start the anti-scalding voice broadcast, realizing the anti-scalding voice warning and timely reminding the patient to avoid hot food to prevent burns. This embodiment uses a 0.96-inch OLED screen, which is connected via an SPI interface.

[0034] The power source compartment 323 is equipped with an I power module 7, which is a high-capacity power supply battery. It provides stable power to the electrical components of the whole machine through the power line 8, and achieves long-term battery life with the help of a low-power control strategy.

[0035] The actuator isolation chamber 321 is equipped with a dual-axis decoupling stabilization mechanism 4 for counteracting hand tremors and stabilizing the spoon head. The dual-axis decoupling stabilization mechanism 4 includes a vertically nested integrated pitch axis motor 41 and a roll axis motor 42. The motors are miniature brushless DC motors, which have fast response speed, small size, and high precision. The pitch axis 411 of the pitch axis motor 41 is vertically arranged, and the output end of the pitch axis motor 41 is equipped with a pitch motor reducer 42. The output end of the pitch motor reducer 42 is fixedly installed with a mounting bracket 43. The mounting bracket 43 is horizontally fixedly installed with a roll axis motor 44. The output end of the roll axis 441 of the roll motor 44 is equipped with a coaxial reducer 45. The output end of the coaxial reducer 45 is detachably fixedly connected to the connecting rod 12. The dual-axis linkage achieves bidirectional anti-shake stabilization of the spoon head 11.

[0036] During operation, the IMU sensor captures the angular velocity and acceleration signals of hand tremors in real time and transmits them to the main controller 53. The main controller 53 drives the dual-axis motors through the dual-channel motor driver chip 55 to perform reverse attitude compensation in the up-down and left-right directions, thereby canceling out high-frequency hand tremors in real time and ensuring that the spoon head 11 and the food inside remain stable, preventing food from spilling. The pitch axis motor 41, roll axis motor 44, dual-channel motor driver chip 55, and main controller 53 are all connected by shielded twisted-pair cables to eliminate electromagnetic interference and ensure the accuracy of anti-shake control.

[0037] The central control and display compartment 322 is equipped with a control unit 5. A display screen 33 is installed on the top wall of the central control and display compartment 322. The control unit 5 includes an IMU sensor 52, a dual-channel motor drive chip 55, and a main controller 53, which are mounted on a circuit board 51 and interconnected. The main controller 53 is connected to the display screen 33, the dual-axis decoupling and stabilization mechanism 4, and the temperature sensor 5. A speaker 35 is installed on the end side wall of the power source compartment 323, and a power socket 36 is also provided. The speaker 35 is connected to the main controller 53 for control.

[0038] The central control and display compartment 322 is located in the middle of the handheld handle unit 3. A support plate 313 is fixedly installed at the bottom of the inner cavity. The circuit board 51 is mounted on the support plate 313. The IMU sensor 52 is connected to the main controller 53 via the I2C high-speed bus 6. The main controller 53 is a main control MCU, installed in the middle of the circuit board 51. The IMU sensor 52 is rigidly fixed on the circuit board 51 and corresponds to the geometric center of the inner wall of the handheld handle. It communicates with the main controller 53 at high speed via the I2C high-speed bus 6 to capture the angular velocity and acceleration signals of hand tremors in real time and transmit them to the main controller 53. It accurately collects tremor data. After calculation, the main controller 53 controls the dual-channel motor drive chip 55 to control the reverse attitude compensation of the dual-axis decoupling stabilization mechanism 4 to cancel the high-frequency hand shaking in real time and ensure that the spoon head 11 and the food inside are always in a stable state. The main control MCU outputs two complementary PWM signals, which are converted into high-current signals by the dual-channel motor drive chip 55 to drive the brushless motor.

[0039] The circuit board 51 also integrates a Bluetooth module (not shown in the figure), which can transmit encrypted data to the user or medical staff terminal via Bluetooth.

[0040] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A smart anti-shake and anti-scalding spoon to assist elderly people with shaky hands in eating, characterized in that: It includes a hand handle unit and a detachable functional spoon head unit; a temperature sensor is installed at the bottom center of the spoon head of the functional spoon head unit; the inner chamber of the hand handle unit is divided from front to back into an actuator isolation chamber, a central control and display chamber, and a power source chamber; The power source compartment is equipped with a power supply battery; the actuator isolation compartment is equipped with a dual-axis decoupling stabilization mechanism to counteract hand tremors and stabilize the spoon head, the dual-axis decoupling stabilization mechanism including a pitch axis motor and a roll axis motor that are vertically nested and integrated; the central control and display compartment is equipped with a control unit, and a display screen is installed on the top wall of the central control and display compartment. The control unit includes an IMU sensor, a dual-channel motor drive chip, and a main controller that are mounted on a circuit board and interconnected. The main controller is signal-connected to the display screen, the dual-axis decoupling stabilization mechanism, and the temperature sensor. A speaker is installed on the end side wall of the power source compartment, and the speaker is controlled and connected to the main controller.

2. The intelligent anti-shake and anti-scalding spoon for assisting elderly people with trembling hands in eating according to claim 1, characterized in that: The functional spoon head unit also includes a connecting rod integrally formed with the spoon head, and a through hole is opened inside the connecting rod; the spoon head includes an upper spoon wall, a lower spoon wall and an intermediate gap between the two, the temperature sensor is encapsulated inside the intermediate gap and is fitted to the upper spoon wall, and the connecting wire of the temperature sensor passes through the through hole of the connecting rod and is electrically connected to the main controller.

3. The intelligent anti-shake and anti-scalding spoon for assisting elderly people with shaky hands in eating according to claim 2, characterized in that: The display screen housing integrates a microcontroller. The temperature sensor collects food temperature signals in real time and transmits them to the main controller. The main controller is signal-connected to the microcontroller, and the microcontroller is electrically connected to the display screen to control the display screen to display temperature values ​​in real time. The main controller can also control the display screen to switch different background warning colors according to preset multiple temperature thresholds.

4. The intelligent anti-shake and anti-scalding spoon for assisting elderly people with trembling hands in eating according to claim 3, characterized in that: The machine has three preset temperature control thresholds, and the specific control logic is as follows: When the food temperature value t collected by the temperature sensor is less than 50℃, the main controller controls the display screen to display the real-time temperature value, and the display screen shows a stable green background. When the food temperature value collected by the temperature sensor meets the condition of 50℃≤t≤55℃, the main controller controls the display screen to display the real-time temperature value, and the display screen displays a yellow background and flashes a warning. When the temperature sensor collects a food temperature value t > 55℃, the main controller controls the display screen to show the real-time temperature value and switches to a red background with flashing warning. At the same time, the speaker is triggered to start voice broadcast, realizing anti-scalding voice warning.

5. The intelligent anti-shake and anti-scalding spoon for assisting elderly people with shaky hands in eating according to claim 2, characterized in that: The pitch axis motor has a vertically arranged pitch axis, and a pitch motor reducer is installed at the output end of the pitch axis motor. A mounting bracket is fixedly installed at the output end of the pitch motor reducer. A roll axis motor is horizontally fixedly installed inside the mounting bracket. A coaxial reducer is installed at the output end of the roll axis motor. The output end of the coaxial reducer is fixedly connected to the connecting rod. The dual-axis linkage achieves bidirectional anti-shake stabilization of the spoon head.

6. The intelligent anti-shake and anti-scalding spoon for assisting elderly people with trembling hands in eating according to claim 5, characterized in that: Both the tilt axis motor and the roll axis motor are connected to the dual-channel motor driver chip via shielded twisted-pair cables. The dual-channel motor driver chip is also electrically connected to the main controller via shielded twisted-pair cables to avoid signal interference and ensure anti-shake control accuracy.

7. The intelligent anti-shake and anti-scalding spoon for assisting elderly people with shaky hands in eating according to claim 4, characterized in that: The central control and display compartment is located in the middle of the handheld handle unit. A support plate is fixedly mounted on the bottom of the inner cavity. The circuit board is mounted on the support plate. The IMU sensor is connected to the main controller via an I2C high-speed bus. The main controller is mounted in the middle of the circuit board. The IMU sensor is rigidly fixed on the circuit board and corresponds to the geometric center of the inner wall of the handheld handle. The IMU sensor communicates with the main controller via an I2C high-speed bus to capture the angular velocity and acceleration signals of hand tremors in real time and transmit them to the main controller.

8. The intelligent anti-shake and anti-scalding spoon for assisting elderly people with trembling hands in eating according to claim 1, characterized in that: The handheld handle unit includes a spoon handle housing and an inner cavity inside the spoon handle housing; the spoon handle housing includes a rigid housing and a non-slip soft rubber sleeve fitted on the outside of the rigid housing; the partitions separating the compartments are provided with through holes for wiring and compartment connection; the display screen is embedded in the top wall of the central control and display compartments, and the outside of the display screen is covered with a transparent protective cover to prevent dust and damage, while ensuring the visibility of temperature information.

9. The intelligent anti-shake and anti-scalding spoon for assisting elderly people with trembling hands in eating according to claim 8, characterized in that: LED lights are also installed on the inner side of the top wall of the central control and display compartment, and the LED lights are connected to the main controller; a Bluetooth module is also installed on the circuit board.

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