Handheld articulated user-assistive device with behavior control modes

A handheld tool, comprising:

• a handle;
• an implement mount configured to detachably accept and hold a plurality of different types of user-assistive implements including a first user-assistive implement;
• an actuator assembly mounted to the handle to physically manipulate the implement mount relative to the handle;
• a first sensor disposed to sense an orientation of the handle;
• a second sensor disposed to sense an absolute orientation of the first user-assistive implement relative to Earth's frame of reference;
• a controller coupled to the actuator assembly and the first and second sensors;
• and
• memory coupled to the controller, the memory storing instructions that, when executed by the controller, causes the handheld tool to perform operations including:
• identifying a type of the first user-assistive implement currently attached to the implement mount from the plurality of different types of user-assistive implements that may be selectively attached to the implement mount;
• selecting a behavior routine from a plurality of different behavior routines based upon the type of the first user-assistive implement identified and currently attached;
• manipulating an orientation of the first user-assistive implement relative to the handle according to the behavior routine selected to aid performance of a physical task with the handheld tool;
• monitoring the first sensor to identify an intentional shake of the handheld tool;
• locking the first user-assistive implement in a current position when the intentional shake of the handheld tool is determined to have occurred;
• and
• unlocking the first user-assistive implement to resume manipulating the orientation of the first user-assistive implement when another instance of the intentional shake is determined to have occurred.