Handheld Tool Tremor Stabilization Using Dual IMU Feedback Control
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Solution Overview
Problem
Current treatments for chronic neurodegenerative diseases like Parkinson's Disease and Essential Tremor, such as medication and deep brain stimulation, are non-optimal for managing unintentional muscle movements that interfere with daily activities, being either ineffective or invasive.
Innovation Solution
A handheld tool equipped with a tremor tracking module and motion sensors that stabilizes unintentional muscle movements by measuring and compensating for tremors, using motion generating mechanisms to maintain desired orientations and correct for misalignments, allowing for robust and efficient motion stabilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If medication or deep brain stimulation is used to treat tremors, then tremor symptoms are reduced, but the treatment becomes invasive or ineffective
Solution Approach 1:
The patent introduces a handheld tool as an intermediary device between the user and the task environment. This tool includes motion sensors that detect tremor movements and a control system that compensates for these movements, providing a non-invasive solution that mediates the interaction between the tremoring hand and the external world, thereby resolving the contradiction between treatment effectiveness and invasiveness
Solution Approach 2:
The patent replaces the biological/neurological treatment systems (medication and deep brain stimulation) with a mechanical sensing and compensation system. The handheld tool uses motion sensors to detect tremor patterns and mechanically compensates for them through controlled movement of the tool components, substituting invasive neurological interventions with an external mechanical assistance system
2Stability of the object's composition
If complex motion stabilization mechanisms are added to the handheld tool, then tremor compensation improves, but device complexity increases
Solution Approach 1:
The handheld tool integrates multiple functions into a single device: it serves as both the task-performing tool and the tremor compensation system. The motion sensors, control system, and motion generating mechanisms are combined within the handheld tool structure, allowing it to perform both its primary function and tremor stabilization without requiring separate dedicated devices, thereby improving stability while managing complexity
Solution Approach 2:
The patent merges the tremor detection system and the tremor compensation system into a single integrated handheld tool. The motion sensors that detect tremor are combined with the motion generating mechanisms that provide compensation, creating a unified system that reduces overall complexity compared to having separate detection and correction devices
Data Source
AI summary
Systems and methods for tracking unintentional muscle movements of a user and stabilizing a handheld tool while it is being used are described. The method may include measuring, with a first inertial measuring unit (“IMU”), at least an orientation of a housing of the handheld tool, and measuring, with a second IMU, at least an orientation or an attachment arm extending from the housing of the handheld tool. The method may also include storing the orientation of the housing and the orientation of the attachment arm in a memory. Furthermore, the method may include controlling, with a processing logic, a first motion generating mechanism and a second motion generating mechanism to move the attachment arm relative to the housing based on the measured orientation of the housing and the measured orientation of the attachment arm to stabilize motion of a user-assistive device attached to a distal end of the attachment arm.