A handheld device is provided. The handheld device includes: a functional body to be used by a user; a handle provided with a first detection circuit configured to detect a movement state of the handle to acquire hand tremor information about a hand of the user; a movable connector through which the functional body is movably connected to the handle in such a manner that the functional body is capable of moving relative to the handle; a movement mechanism connected to the functional body and configured to drive the functional body to move relative to the handle; and a control circuit configured to control an operating state of the movement mechanism in accordance with the hand tremor information acquired by the first detection circuit, to drive the functional body to perform compensating movement relative to the handle, thereby to maintain the functional body at a selected position.

A handheld system includes a motion-generating mechanism having a first motor mounted to a housing to generate a first rotary motion and a second motor coupled to a first output of the first motor such that the first rotary motion imparts to the second motor and rotates the second motor within the housing. The second motor generates a second rotary motion. An attachment arm extends out of the housing and has a first end coupled to a second output of the second motor and a second end configured to attach a user assistive device. A motion sensor senses a motion of the handheld system and generates a signal in response. A control system is coupled to receive the signal and to control the first and second rotary motions with commands generated based at least in part upon the signal. The commands direct the motion-generating mechanism to stabilize unintentional muscle movements.

Systems and methods for tracking unintentional muscle movements of a user and stabilizing a handheld tool while it is being used by the user are described. The method may include detecting motion of a handle of the handheld tool manipulated by a user while the user is performing a task with a user-assistive device attached to an attachment arm of the handheld tool. Furthermore, the method may include storing the detected motion in a memory of the handheld tool as motion data. The method may also include controlling, based on the motion data, a motion-generating mechanism of the handheld tool that moves the attachment arm relative to the handle in a degree of freedom.

An anti-tremor device including a tool unit, a carrying portion, and an anti-tremor module is disclosed. The tool unit is coupled or mounted on the carrying portion. The anti-tremor module is disposed on the carrying portion. The anti-tremor module includes a rotary transmission mechanism and a control module. The control module includes a sensing unit and a control unit. The sensing unit is coupled to the control unit, and the control module is coupled to the rotary transmission mechanism. When the sensing unit senses the tremor of the carrying portion, the control unit controls the rotary transmission mechanism to increase the inertia of the anti-tremor module to eliminate or reduce the tremor of the carrying portion.

Techniques and mechanisms for detecting and evaluating grip by a user operating a handheld tool. In an embodiment, the tool includes a handle, one or more pressure sensors disposed in or on the handle, and an attachment arm. An output from the one or more sensors is generated while a user-assistive device is coupled to a distal end of an attachment arm of the tool. Logic of the tool calculates a grip metric based on the sensor output, and the tool transmits, based on the grip metric, a signal including medical diagnostic information. In another embodiment, the user-assistive device includes a utensil attachment or a personal hygiene attachment.

Systems and methods for tracking unintentional muscle movements of a user and stabilizing a handheld tool while it is being used by the user are described. The method may include detecting motion of a handle of the handheld tool manipulated by a user while the user is performing a task with a user-assistive device attached to an attachment arm of the handheld tool. Furthermore, the method may include storing the detected motion in a memory of the handheld tool as motion data. The method may also include controlling, based on the motion data, a motion-generating mechanism of the handheld tool that moves the attachment arm relative to the handle in a single degree of freedom in a direction of the detected motion of the handle.

A grip for a cookware handle includes a first side, a second side, a pocket between the first side and the second side, a first aperture in the first side, a second aperture in the second side, and a plug comprising a thumb grip. The plug is configured to retain the grip on a shaft received in the pocket by extending through the first aperture, the shaft, and the second aperture.

A handheld tool includes a handle for holding by a user, an attachment arm extending from the handle that is configured to connect to a user-assistive device, a first inertial measurement unit (IMU) mounted to the attachment arm to acquire measurements of one or more of a motion or an orientation of the user-assistive device and to generate feedback data indicative of the measurements, an actuator assembly coupled to manipulate the user-assistive device via the attachment arm in at least two orthogonal dimensions, and a motion control system coupled to receive the feedback data from the first IMU and coupled to provide commands to the actuator assembly to provide auto-leveling of the user-assistive device to a frame of reference while the user manipulates the handheld tool.

A system and method for stabilizing unintentional muscle movements are disclosed. In a first aspect, a non-contact sensing system comprises a stabilization unit, at least one non-contact position sensor coupled to the stabilization unit, and a processing unit coupled to the at least one non-contact position sensor, wherein the processing unit transmits motion commands to the stabilization unit to cancel unintentional muscle movements. In a second aspect, the method comprises a processing unit of a non-contact sensing system receiving position data of a stabilization unit that is detected by at least one non-contact position sensor and filtering the position data to identify the unintentional muscle movements. The method includes modeling the position data to create a system model and determining motor commands based upon the system model to cancel the unintentional muscle movements.

A method of tremor reduction in a handheld device includes measuring a tremor motion and a tilt motion with a motion tracking module (MTM) disposed in a housing of the handheld device. In response to measuring the tremor motion, an attachment arm is moved with at least one motion generating mechanism to reduce the tremor motion in the attachment arm. Additionally, in response to measuring the tilt motion, the attachment arm is moved with the at least one motion generating mechanism to resist the attachment arm hitting a hard stop in the handheld device.