Biomechanical Constraints in the Design of Robotic Systems for Tremor Suppression

defines tremor as an involuntary rythmical oscillation of a body part (Deuschl et al. 1998). This definition excludes other movement disorders with a less cyclic character such as chorea or ataxia. Tremor is the most frequent movement disorder in clinical practice with an estimated prevalence between 3-4% of the population over 50 (Manto et al. 2004). Everybody has some tremor component, usually invisible for the naked eye, called