High amplitude tremor stabilization by a handheld tool

A non-transitory machine readable storage medium having instructions stored thereon, which when executed by a processing system of a handheld tool, cause the handheld tool to perform a method comprising:

• detecting motion of a housing of the handheld tool when 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, wherein the housing forms a handle that is grasped by the user while the user is performing the task with the handheld tool;
• storing the detected motion in a memory of the handheld tool as motion data;
• and
• controlling, by the processing system based on the motion data, a first motion generating mechanism and a second motion generating mechanism by generating a first motion signal and a second motion signal that respectively drive the first motion generating mechanism in a first degree of freedom and the second motion generating mechanism in a second degree of freedom to stabilize motion of the user-assistive device attached to the attachment arm of the handheld tool,
• wherein the first motion generating mechanism is rigidly mounted to and in line with the attachment arm and the second motion generating mechanism is oriented parallel and in line with the housing, and wherein the attachment arm is coupled with the housing via a coupling of the first motion generating mechanism with the second motion generating mechanism.