# US 10,368,669 B2 · System and method for stabilizing unintentional muscle movements > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,368,669 B2 - Document ID: US10368669B2 - Status: Granted - Kind: B2 - Application number: 13/250,000 - Filed: 2011-09-30 - Published: 2014-02-20 - Granted: 2019-08-06 - Earliest claimed: 2011-09-30 - Assignees: Verily Life Sciences LLC - Applicants: Anupam Pathak - Inventors: Anupam Pathak - Web page: https://patentgrep.com/patent/US10368669B2 ## CPC - A47G 21/08: Serving devices for one-handed persons - A47G 21/02: Forks; Forks with ejectors; Combined forks and spoons; Salad servers - A61B 5/0022: {Monitoring a patient using a global network, e.g. telephone networks, internet} - A61B 5/1101: {Detecting tremor} - A61B 5/6887: {mounted on external non-worn devices, e.g. non-medical devices} - A61F 4/00: Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body - G16H 40/67: for remote operation - A47G 2200/046: of holding or grasping - A47J 43/28: Other culinary hand implements, e.g. spatulas, pincers, forks or like food holders, ladles, skimming ladles, cooking spoons; Spoon-holders attached to cooking pots - A61B 5/4082: {Diagnosing or monitoring movement diseases, e.g. Parkinson, Huntington or Tourette} - A61B 2562/0219: Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches - A61F 2/08: Muscles; Tendons; Ligaments - A61H 1/00: Apparatus for passive exercising (A61H5/00 takes precedence); Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones - A61H 23/00: Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms {(apparatus for passive exercising A61H1/00; generating or transmitting mechanical vibrations in general B06B)} - F16F 7/1005: {characterised by active control of the mass} - G05B 13/021: {in which a variable is automatically adjusted to optimise the performance} - A47G: HOUSEHOLD OR TABLE EQUIPMENT (book-ends A47B5/00; knives B26B) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA - A47J: KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) - F16F: SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A system and method for stabilizing a position of an object are disclosed. The system comprises a housing that includes a subsystem. The system also includes an attachment arm coupled to the housing. At least one first sensor is placed along the attachment arm, wherein the attachment arm is configured to receive the object thereto. In response to an unintentional muscle movement by a user that adversely affects the motion of the object, the subsystem stabilizes the position of the object. The method comprises providing a subsystem within a housing and coupling an attachment arm to the housing. The method also includes placing at least one first sensor along the attachment arm, wherein the attachment arm is configured to receive the object thereto. In response to an unintentional muscle movement by a user that adversely affects the motion of the object, the subsystem stabilizes the position of the object. ## Claims ### Claim 1 A system comprising: a housing having an exterior shape adapted to be held by a user's hand and having an interior volume, the interior volume having an open end; a subsystem positioned in the interior volume, the subsystem including a motion-generating mechanism, a controller coupled to the motion-generating mechanism, a control system coupled to the controller, and at least one relative-motion sensor coupled to the control system; and an attachment arm having a first end coupled to the motion-generating mechanism and a second end that extends through the open end of the housing and is configured to receive a user assistive device, wherein the attachment arm is movable relative to the housing, wherein the relative-motion sensor measures the position of the attachment arm relative to the housing, and wherein at least one absolute-motion sensor is placed along the attachment arm; wherein the control system uses outputs from the absolute-motion sensor and the relative-motion sensor to stabilize the position of the user-assistive device by directing the motion-generating mechanism to move the attachment arm relative to the housing to compensate for the user's tremors. ### Claim 2 (depends on 1) The system of claim 1, wherein the subsystem further comprises a power source coupled to the motion-generating mechanism. ### Claim 3 (depends on 2) The system of claim 2, wherein the user-assistive device is kept at a center position relative to the housing. ### Claim 4 (depends on 3) The system of claim 3, wherein the control system receives a first signal from the at least one absolute-motion sensor and a second signal from the at least one relative-motion sensor, generates voltage commands based upon the first and the second signals and using the control algorithm, and transmits the generated voltage commands to the motion-generating mechanism to stabilize the attachment arm. ### Claim 5 (depends on 4) The system of claim 4, wherein the generated voltage commands are transmitted by the control system and to the motion-generating mechanism via a controller that is coupled to the control system. ### Claim 6 (depends on 3) The system of claim 3, wherein the user-assistive device comprises any of a manufacturing tool, a surgical tool, a kitchen utensil, a grooming utensil, and a tooth appliance. ### Claim 7 (depends on 3) The system of claim 3, wherein the user-assistive device is coupled to the attachment arm using a friction mechanism or a snap mechanism. ### Claim 8 (depends on 2) The system of claim 2, wherein the at least one absolute-motion sensor is at least one inertial sensor with an input that is not limited to angular motion about an axis and the at least one relative-motion sensor is at least one contactless position sensor. ### Claim 9 (depends on 2) The system of claim 2, wherein the motion-generating mechanism comprises at least one motor and at least one gear-reduction system coupled to the at least one motor. ### Claim 10 (depends on 2) The system of claim 2, wherein the control system is a closed-loop control system. ### Claim 11 (depends on 2) The system of claim 2, wherein the at least one relative-motion sensor relies on a changing magnetic field that is dependent on an actuation angle to provide angular feedback for the control system. ### Claim 12 A method for stabilizing a position of an object, the method comprising: providing an apparatus comprising: a housing having an exterior shape adapted to be held by a user's hand and having an interior volume, the interior volume having an open end, wherein the housing includes a subsystem, a subsystem positioned in the interior volume, the subsystem including a motion-generating mechanism, a controller coupled to the motion-generating mechanism, a control system coupled to the controller, and at least one relative-motion sensor coupled to the control system, and an attachment arm having a first end coupled to the motion-generating mechanism and a second end that extends through the open end of the housing and is configured to receive a user assistive device, wherein the attachment arm is movable relative to the housing, wherein the relative-motion sensor measures the position of the attachment arm relative to the housing, and wherein at least one absolute-motion sensor is placed along the attachment arm; measuring the absolute motion of the user-assistive device and the motion of the attachment arm relative to the housing; and directing the motion-generating mechanism to stabilize the position of the user-assistive device by compensating for the user's tremors by moving the attachment arm relative to the housing based upon the absolute motion measurement and the relative motion measurement. ### Claim 13 (depends on 12) The method of claim 12, further comprising: comparing at least one signal representative of at least one of the absolute motion measurement and the relative motion measurement to at least one set-point; and stabilizing the position of the user-assistive device based on the comparison of the at least one signal to the at least one set-point. ### Claim 14 (depends on 13) The method of claim 13, wherein the subsystem comprises a power source. ### Claim 15 (depends on 13) The method of claim 13, wherein stabilizing the position of the user-assistive device comprises sending voltage commands from the control system to the motion-generating mechanism through the controller. ### Claim 16 (depends on 15) The method of claim 15, wherein sending voltage commands comprises processing the at least one signal by the control system using a control algorithm. ### Claim 17 (depends on 13) The method of claim 13, wherein the at least one absolute-motion sensor is at least one inertial sensor and the at least one relative-motion sensor is at least one contactless position sensor. ### Claim 18 (depends on 13) The method of claim 13, wherein the motion-generating mechanism comprises at least one motor and at least one gear-reduction system coupled to the at least one motor. ### Claim 19 (depends on 13) The method of claim 13, wherein the at least one relative-motion sensor relies on a changing magnetic field that is dependent on an actuation angle to provide angular feedback for the control system.