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1. (WO2018044339) METHOD AND SYSTEM FOR A FEEDBACK CONTROLLER FOR A HANDHELD TOOL

Pub. No.:    WO/2018/044339    International Application No.:    PCT/US2016/065941
Publication Date: Fri Mar 09 00:59:59 CET 2018 International Filing Date: Sat Dec 10 00:59:59 CET 2016
IPC: A61B 5/00
A61B 5/11
A61B 34/00
A47G 21/02
A61F 4/00
G01C 21/18
Applicants: VERILY LIFE SCIENCES LLC
Inventors: PATHAK, Anupam J.
OWENS, Dylan
Title: METHOD AND SYSTEM FOR A FEEDBACK CONTROLLER FOR A HANDHELD TOOL
Abstract:
Systems and methods for tracking unintentional muscle movements of a user and stabilizing a handheld tool while it is being used are described. The method may include measuring, with a first inertial measuring unit ("IMU"), at least an orientation of a housing of the handheld tool, and measuring, with a second IMU, at least an orientation or an attachment arm extending from the housing of the handheld tool. The method may also include storing the orientation of the housing and the orientation of the attachment arm in a memory. Furthermore, the method may include controlling, with a processing logic, a first motion generating mechanism and a second motion generating mechanism to move the attachment arm relative to the housing based on the measured orientation of the housing and the measured orientation of the attachment arm to stabilize motion of a user-assistive device attached to a distal end of the attachment arm.