Accurately aiming and firing a pistol requires a steady hand. While many devices can steady a shooter’s arm or hand by restricting movement or degrees-of-freedom, few devices actively reduce involuntary tremors while allowing larger voluntary aiming movements. This paper details the design and fabrication of an arm exoskeleton that can actively damp arm tremors while allowing voluntary aiming movements. The device allows five degrees-of-freedom and is very lightweight due to its cable-driven architecture and use of carbon fiber composite materials. Tremorous movement is filtered out from voluntary motion, and an adaptive algorithm provides a tremor-cancelling signal to the cable control motors.

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