In this p aper a new assistive device for p ersons suffer ing tremor disease is presented. It should hel p those people to get along with the everyday life situation of consuming beverages and replace the feeding cups currently used. The cu p holder is built u p as a mechatronic system. It consists of a kinematic structure sustaining a standard cu p as well as elec tronic and software components. The cup is moved by the device in order to compensate linear and rotational accelerations as well as tilt induced by a p erson's tremor. For this p ur p ose the charac teristics of the fast and large scaled tremor movements of the p atient's hand are measured first. By use of the inverse kinemat ics calculated for the system and a method for the modelling of the liquid's movement, necessary reactions of the cu p holder are deduced. Using this information the device's motors are actuated to avoid spillage of the liquid. The underlying calculations are run on a micro controller integrated in the system. An experiment was conducted to validate the function of the system. For this purpose an industrial robot was used to apply common tremor frequencies and am p litudes to the cup holder. It was shown that by use of the compensatory cup holder the s pill age of the beverage can be eliminated at a wide range of different tremors.
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