Technological Institute of the Philippines

Manila Campus

Design of a Stabilizing, Tremor Reducing Mechanical Spoon

Constantino, Aaron

Encinares, Alfonso

Matulac, JohnLord

Orog, Melvin

Young, Kurt

March 2017

Mechanical Engineering Department

 Acknowledgement

This project proposal would not have been completed without the utmost effort of each
member of the team.

We thank Lord God for His never ending guidance,

We thank our instructor, Engr. Maurice Sorita, who taught us the ways to use SolidWorks
software and the essence of Project Study 1 and Project Study 2 for mechanical
engineering students,

Lastly we thank our parents, friends whom always supported us.

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 Abstract

Tremor is the unintentional shaking of one or more parts of the body. Several people are
able to live normal life with this condition although they may find everyday activities
like, eating, dressing or writing difficult. It is only when the tremors become severe that
they actually cause disability. This problem inspired the proponents of this study to
design a stabilizing spoon for people with hand tremor conditions such as Parkinson's
disease and essential tremor.

The project is very beneficial in the medical field considering the number of essential
tremor and Parkinson's disease patients worldwide. The solution proposed will be in a
mechanical manner, eliminating the need for complicated electronic stabilization. One of
the improvements of this mechanical gimbal spoon device over current electronic anti-
tremor spoon is the addition of a new axis for rolling motion. The proponents first
designed the device using Solidworks. Then, actual tremor frequencies of Parkinson's
disease and essential tremor were used to compare the linear displacement of the device
compared to a normal spoon. Using motion anaylisis, the proponents were able to
determine a percent reduction of 63% due to light and moderate tremor between the
device and a normal spoon at no load conditions. In this project, the attraction between
two neodymium magnets was greatly utilized. Since there is no available magnetic
simulation in Solidworks, only the prototype was fitted with neodymium magnets. This
mechanism allows the stabilization of the spoon loaded with different food samples such
as cooked rice, oatmeal and cereal with milk. The results between the comparison of the
prototype and a normal spoon subjected to hand tremor will be shown in video only. It
can be seen from the video that the food spilled easily for the normal spoon while the
mechanical gimbal spoon was able to stabilize tremor motion and caused less to none
food spillage. The comfort of the user is of utmost importance, thus, the weight of the
device was designed to be comparable to other weighted utensils available in the market.
Furthermore, the overall cost of the device was significantly lower compared to other
electronic anti-tremor spoon in the market.

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 Table of Contents

Title Page i

Acknowledgement ii

Abstract iii

Table of Contents iv

List of Figures

List of Tables

Chapter 1: Introduction

1.1 The problem and its background 1

1.2 Objectives of the study 2

1.3 Significance of the Study 2

1.4 Scope and Delimitation 2

Chapter 2: Review of Related Literature

2.1 Causes of Tremor 4

2.2 Characteristics of Tremor 4

2.3 Classification of Tremor 4

2.3.1 Resting Tremor 5

2.3.2 Action Tremor 5

2.4 Hand Tremor 5

2.4.1 Essential Tremor 5

2.4.1.1 Causes of Essential Tremor 6
2.4.1.2 Statistics for Essential Tremor 6
2.4.2 Parkinson's Disease 6

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2.4.2.1 Causes of Parkinson's Disease 7
2.4.2.2 Statistics for Parkinson's Disease 8
2.4.3 Comparisons of Characteristics of Essential Tremor 8
and Parkinson's Disease
2.4.4 Frequency of Tremor 10

2.4.5 Hand Displacement 10

2.4.6 Cure 10
2.5 Eating Devices 11
2.5.1 Weighted Utensils 11
2.5.2 Electronic Devices 11
2.6 Mechanical Gimbal 12
2.7 Neodymium Magnet 12
2.7.1 Life of Neodymium Magnet Strength 13
2.8 Solidworks Motion Analysis 13
2.9 Magnetic Simulation in Solidworks 13
2.10 Patent Search 14
2.10.1 Electronic Anti-Tremor Spoon 14
2.10.2 Anti-Shake Spoon 15
2.10.3 Anti-Shake Spoon 16

Chapter 3: Methodology
3.1 Project Development Flow 17
3.1.1 Project Management 18

3.1.2 Advising and Consultations 18

3.1.3 Project Designing 18

3.1.4 Solidworks Modelling and Simulation 18

3.2 Materials Selection 19

3.2.1 Handle and Gimbal Case 19

3.2.2 Bearing 19

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3.2.3 Shaft 20
3.2.4 Counterweights 20
3.2.5 Magnets 20
3.3 Proposed Design 21

3.3.1 Exploded View 21

3.4 Parts List 22

3.4.1 Gimbal Case 22
3.4.2 Top Connector 22
3.4.3 Main Bearing 23
3.4.4 Side and Top Bearing 23
3.4.5 Shaft 24
3.4.6 Front Counterweight 24
3.4.7 Rear Counterweight, Large 25
3.4.8 Rear Counterweight, Small 25
3.4.9 Spoon 26
3.4.10 Handle 27
3.4.11 Neodymium Magnets 28

3.4.12 Gimbal Assembly 29

3.4.12 Mechanical Spoon Assembly without Magnets ( Solidworks Simulation) 31

3.4.13 Normal Spoon 32
3.4.14 Mechanical Spoon Assembly with Magnets (For Prototype) 33
3.5 Design Considerations 34

3.5.1 Spoon Stabilization 34

3.5.2 Range of Movement 34
3.5.3 Weight 34

3.6 Experiment Conditions 35

3.6.1 Simulation Procedure 35

3.6.1.1 Simulation Input Data 36

3.6.1.1.1 Contact Groups 36
3.6.1.1.2 Gravity Parameter 37

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3.6.1.1.3 Distance of Front Counterweight from the Shaft 37

3.6.1.1.4 Trial 1 at 3 Hz, X-axis 38

3.6.1.1.5 Trial 2 at 7.5 Hz, X-axis 39

3.6.1.1.6 Trial 3 at 12 Hz, X-axis 40

3.6.1.1.7 Trial 4 at 3 Hz, Y-axis 41

3.6.1.1.8 Trial 5 at 7.5 Hz, Y-axis 42

3.6.1.1.9 Trial 6 at 12 Hz, Y-axis 43

3.6.2 Prototype 44

3.7 Project Development Time Table 45

Chapter 4: Results and Discussion

4.1 Simulation Results 49
4.1.1 Trial 1 49
4.1.1.1 Linear Displacement of Normal Spoon at 3 Hz, X-axis 49
4.1.1.2 Linear Displacement of Mechanical Gimbal Spoon at 3 Hz, X-axis 49
4.1.2 Trial 2 50
4.1.2.1 Linear Displacement of Normal Spoon at 7.5 Hz, X-axis 50
4.1.2.2 Linear Displacement of Mechanical Gimbal Spoon at 7.5 Hz, X-axis 50
4.1.3 Trial 3 51
4.1.3.1 Linear Displacement of Normal Spoon at 12 Hz, X-axis 51
4.1.3.2 Linear Displacement of Mechanical Gimbal Spoon at 12 Hz, X-axis 51
4.1.4 Trial 4 52
4.1.4.1 Linear Displacement of Normal Spoon at 3 Hz, Y-axis 52
4.1.4.2 Linear Displacement of Mechanical Gimbal Spoon at 3 Hz, Y-axis 52
4.1.5 Trial 5 53
4.1.5.1 Linear Displacement of Normal Spoon at 7.5 Hz, Y-axis 53
4.1.5.2 Linear Displacement of Mechanical Gimbal Spoon at 7.5 Hz, Y-axis 53
4.1.6 Trial 6 54
4.1.6.1 Linear Displacement of Normal Spoon at 12 Hz, Y-axis 54

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4.1.6.2 Linear Displacement of Mechanical Gimbal Spoon at 12 Hz, Y-axis 54
4.2 Percent Reduction in Tremor 55
4.3 Prototype Results (Actual Use) 56
4.4 Weight of the Device 58
4.4.1 Solidworks Simulation 58
4.4.2 Prototype 58
4.5 Cost 59

Chapter 5: Summary and Conclusion 60

Chapter 6: Recommendation for Future Work 62

References 63

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 List of Figures

Figure 1: Parkinson's Disease Tremor 7

Figure 2: Mechanical Gimbal with Counterweight 12
Figure 3: Project Development Flow Program 17
Figure 4: Finished Prototype Assembly with Magnets 33
Figure 5: Oscillating Motion Settings 35
Figure 6: Finished Prototype for Testing with Cooked Rice, Oatmeal and Cereal 44
Figure 7: Results and Graphs Settings 48
Figure 8: Amplitude of a Frequency Graph 48
Figure 9: Prototype Tested with Oatmeal 56
Figure 10: Prototype Tested with Cooked Rice 56
Figure 11: Prototype Tested with Cereal with Milk 57

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 List of Tables

Table 1: Comparison of Signs and Symptoms between Essential 9

Tremor and Parkinsonian Tremor
Table 2: Frequency of Tremor 10
Table 3. Hand Displacement due to Tremor 10
Table 4: Mechanical Properties of High Density Polyethylene (from SolidWorks) 19
Table 5 : Percent Reduction in Tremor per Trial 55
Table 6: Average Percent Reduction in Tremor (3-12 Hz)
Table 7: Cost of the Project 59

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Chapter 1: Introduction

1.1 The problem and its background

Tremor is the unintentional shaking of one or more parts of the body. It is also the most
common of all involuntary movements and can cause rhythmic muscle movement such as
to-and-fro oscillations to affect the hands, arms, head, face, trunk and legs or any part of
the body at any time (George Krucik, MD, MBA, 2014). Rest tremors occur in a body
part that is relaxed and completely supported against gravity. Action tremors occur with
voluntary contraction of a muscle. It has been stated that all persons have low-amplitude,
high-frequency physiologic tremors at rest and during action that are not reported as
symptomatic (Paul Crawford, MD, and Ethan E. Zimmerman, MD, 2011). For some, it
is a symptom of a neurological disorder or a side effect of certain drugs. It can lead to
social embarrassment to some people and make it harder to perform daily tasks. Tremor
is not life threatening. However, there is no cure for most tremors. Appropriate treatment
depends on accurate diagnosis which will be discussed more in detail later on.

Two categories of tremor most present in the hands are essential tremor and Parkinson's
disease (PD). One of the problems being faced by people with hand tremor is the
difficulty, or sometimes inability to feed themselves due to the uncontrolled shaking of
their hands. This makes using a simple eating utensil a big ordeal. Other everyday life
challenges include drinking, putting makeup, writing and wearing clothes.

The proponents of this project study aims to give a degree of independence to people
with hand tremor by minimizing the vibration of the spoon utensil so that they will be
able to eat much better. The group will incorporate materials engineering, ergonomics,
design and economics for this study.

1.2 Objectives of the study

The main objective of the project, is to design a stabilizing, tremor reducing mechanical
spoon. Breaking down the objective is as follows:

 The device should be able to minimize at least 50 % the light to moderate tremor
(2 cm tremor displacement) caused by Parkinson's disease (3 - 7 Hz) and essential
tremor (4 - 12 Hz) being transmitted from the user to the utensil mechanically by
using a gimbal, counterweights and magnets;
 To utilize the principles of materials engineering, ergonomics, design and
economics;
 To design the components of the project, simulate its motion using Solidworks
motion analysis and determine the percent reduction of vibration;
 To build and test the prototype, and;
 To be able to present the study on March 4, 2017

1.3 Significance of the Study

This study is significant because tremor is the most common of all involuntary
movements (medicine.net). Essential tremor is the most common movement disorder,
affecting up to 10 million people in the U.S. Also, as many as one million Americans live
with Parkinson’s disease. More than 70 percent of patients with Parkinson's disease alone
have tremor as the presenting feature (aafp, 2011). The outcome of this study will benefit
people with light to moderate hand tremor to their daily eating routine. As such, it will
also provide a deeper understanding of the problem for the proponents of this study.

1.4 Scope and Delimitation

The device will utilize a mechanical way of reducing vibrations from the user to the bowl
of the spoon due to light to moderate hand tremor using a gimbal with counterweights
and magnets. The proponents will use Solidworks to simulate the motion of the device
using available essential tremor and Parkinson's disease tremor frequency data. Since

2
there is no available magnetic simulation in Solidworks, the proponents will only
simulate the motion of the device at no load condition. For the prototype, the proponents
will make use of the attraction between two neodymium magnets in order to compensate
for the weight of different food densities. Moreover, the weight of the device should be
comparable to the weight of available weighted utensils in the market.

3
Chapter 2: Review of Related Literature

2.1 Causes of Tremor

Tremor is generally caused by problems in parts of the brain that control muscles
throughout the body or in particular areas, such as the hands. Neurological disorders or
conditions that can produce tremor include multiple sclerosis, stroke, traumatic brain
injury, and neurodegenerative diseases that damage or destroy parts of the brainstem or
the cerebellum. Other causes include the use of some drugs (such as amphetamines,
corticosteroids, and drugs used for certain psychiatric disorders), alcohol abuse or
withdrawal, mercury poisoning, overactive thyroid, or liver failure. Some forms of tremor
are inherited and run in families, while others have no known cause (Tremor Fact Sheet,
ninds.nih.gov).

2.2 Characteristics of Tremor

Characteristics may include a rhythmic shaking in the hands, arms, head, legs, or trunk;
shaky voice; difficulty writing or drawing; or problems holding and controlling utensils,
such as a fork. Some tremors may be triggered by or become exaggerated during times
of stress or strong emotion, when the individual is physically exhausted, or during certain
postures or movements. Tremor is most common in middle-aged and older persons, but it
may occur at any age. It affects men and women equally (Tremor Fact Sheet,
ninds.nih.gov).

2.3 Classification of Tremor

Tremors can be classified either resting or action.

4
2.3.1 Resting Tremor

A rest tremor occurs in a body part that is relaxed and completely supported against
gravity (e.g., when resting an arm on a chair). It is typically enhanced by movement of
another body part (e.g., walking), and diminished by voluntary movement of the affected
body part. Resting tremors often affect only the hands or fingers (aafp, 2011).

2.3.2 Action Tremor

Action tremors occur with voluntary contraction of a muscle. Action tremors can be
further subdivided into postural, isometric, and kinetic tremors. A postural tremor is
present while maintaining a position against gravity. An isometric tremor occurs with
muscle contraction against a rigid stationary object (e.g., when making a fist). A kinetic
tremor is associated with any voluntary movement and includes intention tremor, which
is produced with target-directed movement (aafp, 2011).

2.4 Hand Tremor

Conditions that may contribute to hand tremor are essential tremor and Parkinson's
disease (liftware.com).

2.4.1 Essential Tremor

Essential tremor is a nervous system (neurological) disorder that causes involuntary and
rhythmic shaking. It can affect almost any part of your body, but the trembling occurs
most often in your hands. It is sometimes confused with Parkinson's disease (Mayo Clinic
Staff).

5
2.4.1.1 Causes of Essential Tremor

The true cause of essential tremor (ET) is still not understood, but it is thought that the
abnormal electrical brain activity that causes tremor is processed through the thalamus.
The thalamus is a structure deep in the brain that coordinates and controls muscle
activity. Genetics is responsible for causing ET in half of all people with the condition. A
child born to a parent with ET will have up to a 50% chance of inheriting the responsible
gene, but may never actually experience symptoms. Although ET is more common in the
elderly and symptoms become more pronounced with age, it is not a part of the natural
aging process (webmd.com).

2.4.1.2 Statistics for Essential Tremor

Essential tremor is the most common movement disorder, affecting up to 10 million

people in the U.S. alone.

2.4.2 Parkinson's Disease

Parkinsonian tremor is caused by damage to structures within the brain that control
movement. This tremor, which appears characteristically as a resting tremor, can occur as
an isolated symptom or be seen in other disorders and is often the first symptom of
Parkinson’s disease (more than 25 percent of patients with Parkinson’s disease have an
associated action tremor). For three out of every four people who develop Parkinson’s
disease (PD), the disease begins with a trembling or shaking in one of the hands. It can
also appear in the feet, face, or jaw but usually it appears in one of the hands (Patrick
McNamara, 2016).

The manifestation of resting tremors characteristic of Parkinson’s disease in which the

fingers (usually forefinger and thumb) rub together as though rolling a pill between them,
with an accompanying slight wrist flexion and extension (up and down movement); often
this is one of the earliest symptoms of PD.

6
 Figure 1: Parkinson's Disease Tremor

2.4.2.1 Causes of Parkinson's Disease

The cause of Parkinson's disease (PD) is generally unknown, but believed to involve
both genetic and environmental factors. Those with a family member affected are more
likely to get the disease themselves. There is also an increased risk in people exposed to
certain pesticides and among those who have had prior head injuries. Other factors have
been associated with the risk of developing the disease, but no causal relationships have
been proven. Most people's symptoms take years to develop, and they live for years with
the disease.

One of the most fundamental clues as to the cause of PD is the loss of dopamine in the
areas of the brain that support movements. With less and less dopamine, a person has less
and less ability to regulate their movements, body and emotions. Dopamine is a chemical
that relays messages between the substantia nigra and other parts of the brain to control
movements of the human body. Dopamine helps humans to have smooth, coordinated
muscle movements. When approximately 60 to 80% of the dopamine-producing cells are
damaged, and do not produce enough dopamine, the motor symptoms of Parkinson's

7
disease appear. This process of impairment of brain cells is called neurodegeneration
(parkinson.org).

2.4.2.2 Statistics for Parkinson's Disease

As many as one million Americans live with Parkinson’s disease, which is more than the
combined number of people diagnosed with multiple sclerosis, muscular dystrophy and
Lou Gehrig’s disease. Approximately 60,000 Americans are diagnosed with Parkinson’s
disease each year, and this number does not reflect the thousands of cases that go
undetected. An estimated 7 to 10 million people worldwide are living with Parkinson’s
disease. Incidence of Parkinson’s increases with age, but an estimated four percent of
people with PD are diagnosed before the age of 50. Also, men are one and a half times
more likely to have Parkinson’s than women (parkinsonassociation.org).

2.4.3 Comparisons of Characteristics of Essential Tremor and Parkinson's Disease

Many differences exist between essential tremor (ET) and Parkinson’s disease (PD), the
former being at least eight times more common than PD. Also, up to 20% of patients with
ET may develop PD.

In those with PD, the most disabling symptoms are generally slowness, stiffness and
problems with walking and balance, although tremor can also cause some disability. In
PD, writing often becomes very small (micrographia) and therefore difficult to read.

The severity of ET and level of disability can vary greatly among patients. Some patients
have a very mild tremor and therefore minimal to no disability. Others who have a severe
tremor often cannot perform the majority of their daily activities and require help
(essentialtremor.org, 2013).

8
Table 1. Comparison of Signs and Symptoms between Essential Tremor and
Parkinsonian Tremor (Adopted from essentialtremor.org, 2013)

Essential Tremor Parkinsonian Tremor

Low amplitude. More variable, ranging High amplitude, lower, slower frequency.
from barely perceptible tremor to a high
amplitude tremor. Higher, faster
frequency.
Mostly seen during action.
Tremor is primary symptom - slowness,
stiffness, walking and balance problems
are not commonly seen.
Family history of tremor reported in the
majority of patients (>50%)
Usually affects both sides of the body
initially (bilateral, symmetrical).
Alcohol often improves tremor
Hands predominantly affected, but
tremor also present in the head and
voice, rarely in the legs.
Worsens with emotional stress.
Mostly seen at rest.
Generally involves slow movements
(bradykinesia), rigidity (stiffness), and
problems with walking or balance.
Rarely a family history (<10%).
Usually starts on one side of the body and
progresses to the other side ; usually remains
asymmetrical.
No effect from consumption of alcohol.
Hands affected more than legs.
Worsens with emotional stress.

9
2.4.4 Frequency of Tremor

Tremor frequency is measured using an electromyogram (EMG) or an accelerometer (a

device that measures the changes in speed and direction of movement).

Table 2. Frequency of Tremor (Adopted from scholarpedia.org)

Condition Frequency
Parkinson's disease 3-7 Hz
Essential tremor 4-12 Hz

2.4.5 Hand Displacement

According to a scale developed by Dr. Findley and Colleagues (Anwar Ahmed and
Patrick Sweeney, 2014)

Table 3. Hand Displacement due to Tremor

Hand Displacement
No tremor
Slight to Moderate < 2 cm
Marked 2 cm - 4 cm
Severe > 4 cm

2.4.6 Cure

There is permanent cure for essential tremor and Parkinson's disease. But medications,
surgery, and multidisciplinary management can provide relief from the symptoms
(parkinson.org).

10
Therapists might suggest adaptive devices to reduce the effect of tremors on your daily
activities, including:
 Heavier glasses and utensils
 Wrist weights
 Wider, heavier writing tools, such as wide-grip pens

2.5 Eating Devices

2.5.1 Weighted Utensils

Weighted utensils have been used to help people with tremors feed themselves more
easily. The heavy weighted utensils help to stabilize the tremulous hand and to give
proprioceptive feedback to those with sensory problems. Among the existing designs in
the market are Good Grips Weighted Utensils in which each utensil weighs about 6 oz.
(170 grams) and Keatlery Utensils in which each utensil weighs about 8 oz. (226.796
grams) (essentialtremor.org). They are currently available for about $13 (PHP 650.00).

2.5.2 Electronic Devices

Smart electronic spoon devices have been invented and developed. At present, these are
Liftware and Gyenno anti shake spoon. The device makes use of a stabilizing technology
to actively detect and stabilize tremors and an ultra-thin rechargeable battery. The
technology, which has been bought by Google, is aimed at Parkinson’s patients and other
people with tremors.

Liftware's stabilizing handle is designed to counteract the effects of tremors and shaky
hands that may be related to conditions like Parkinson's or essential tremor. The handle
includes built-in sensors, a computer, and motors. The soup spoon attachment connects to
the stabilizing handle, holds about 1 tablespoon (15mL) of liquid, and can pick up food
such as soups and cereals. They are currently available for $300 (PHP 15,000.00).

11
2.6 Mechanical Gimbal

A gimbal is a pivoted support that allows the rotation of an object about an axis.
Mechanical gimbals are often used in camera stabilization. A set of weights, or
counterweights, is used in order to stabilize the movement of the camera.

Figure 2: Mechanical Gimbal with Counterweight

2.7 Neodymium Magnet

Neodymium magnets are a type of rare earth magnet. They are the strongest rare earth
magnets and can be very dangerous if handled improperly. They are often referred to as
rare earth magnets because they belong to the rare earth elements on the periodic table.
But they are not the same as rare earth magnets. There are different types of rare earth
magnets and Neodymium magnets are just one type. Neodymium magnets are the
strongest permanent magnets available today (whatareneodymiummagnets.com).

12
2.7.1 Life of Neodymium Magnet Strength

Neodymium magnets have high coercive force, that it is not easy to demagnetized
( lose magnetic strength). The effect of time on today’s permanent magnet materials is
minimal. As long as their physical properties remain intact, neodymium magnets will
likely lose less than1% of their flux density over 100 years. Generally the magnet will
experience a degradation in its physical properties, such as corrosion, prior to it
demagnetizing because of age (.rare-earth-magnets.com).

2.8 Solidworks Motion Analysis

Solidworks motion analysis uses the assembly mates along with part contacts and a
robust physics-based solver to accurately determine the physical movements of an
assembly under load. With the assembly motion and forces calculated, a structural
analysis of the components can be performed to ensure product performance.

Kinematic analysis studies how your design moves due to forces and motions drivers
applied to the assembly. The key results of interest are the assembly range of motion and
determining part displacements, velocities, and accelerations while dynamic motion
analysis evaluates the forces generated by movement, as well as the movement itself.

2.9 Magnetic Simulation in Solidworks

Magnetic force is generated by a magnetic field, which is everything but constant along
the volume of the component. Currently there is no direct magnetic simulation available
in Solidworks.

13
2.10 Patent Search
2.10.1 Electronic Anti-Tremor Spoon

This patent is very similar to Liftware and Gyenno in which servo motors stabilize the
spoon in 2 axis - X and Y. This is different from this study because the proponents aim to
provide a mechanical solution for the stabilization of the spoon.

14
2.10.2 Anti-Shake Spoon

This patent also uses sensors and motors to reduce the shaking of the spoon.

15
2.10.3 Anti-Shake Spoon

This patent utilizes a spoon body that goes into a holding portion which houses a set of
springs and other elastic parts. This patent is similar to this study because the inventor
also uses a mechanical way of reducing vibrations for Parkinsonian tremor.

16
Chapter 3: Methodology

3.1 Project Development Flow

Design of a Stabilizing,
Tremor Reducing
Mechanical Spoon

Is it
feasible?

Project Management

Designating of Review of
Tasks Related
Literature

Modelling/Simulation Material
Selection

Fabrication of Adjustments to
Prototype the Prototype Evaluation

Figure 3: Project Development Flow Program

17
3.1.1 Project Management

This is done to determine the feasibility of the project. Group members were given tasks
and were required to contribute ideas to the project. A Gantt chart has been prepared so
that the project flow will be more organized.

3.1.2 Advising and Consultations

The group sought the advice of their instructor regarding this topic. After the topic has
been approved, the researchers submitted patent searches and Chapters 1 and 2 of the
study for revisions.

3.1.3 Project Designing

The researchers made various designs through brainstorming and chose the most suitable
design for the project. It involves factors such as the materials, the cost and the overall
weight of the device.

3.1.4 Solidworks Modelling and Simulation

It is vital to design and simulate the device first using Solidworks before fabrication of
the prototype. Solidworks has been greatly utilized to determine the mass of different
components to be used. Solidworks will also be used to conduct a motion analysis of a
normal spoon and of the proponents' design subjected to various tremor frequencies and
to determine the corresponding percent reduction in vibrations.

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3.2 Materials Selection

3.2.1 Handle and Gimbal Case

High density polyethylene was chosen for its sturdiness and somewhat tough character
can be used for a large range of applications. The qualities of polyethylene can be
summarized into three words: it is strong, it is cheap and it is versatile
(www.plasticseurope.org, 2014). The range of movement of the counterweights was
considered in the design of the handle.

Table 4: Mechanical Properties of High Density Polyethylene (from SolidWorks)

Property Value Unit

Elastic Modulus 1,070,000,000 N/m2

Shear Modulus 377,200,000 N/m2

Tensile Strength 22,100,000 N/m2

Thermal Conductivity 0.461 kJ/kg-K

3.2.2 Bearing

A ball bearing will be used to stabilized the roll movement of the spoon. Miniature
bearings will also be incorporated inside the gimbal case so that friction between the axes
will be significantly reduced. The most common material used to produce the load
carrying components in precision ball bearings, roller bearings, and tapered roller
bearings is 52100 chrome steel.

19
3.2.3 Shaft

A hollow shaft will be used to connect the tip of the spoon and counterweights to the
gimbal. A hollow shaft was chosen because a solid shaft will add more weight to the
device. Stainless steel was chosen because the properties of this material are perfect for
making cutlery. Stainless steel, in fact, is very hygienic and has perfect properties in
terms of resistance to corrosion and high temperatures. Stainless steel has a low
percentage of carbon and contains about 10% chrome. The addition of chrome is what
gives steel its property of stainlessness and corrosion resistance. The chrome contained in
steel is what produces an adherent, invisible and corrosion-resistant film that covers the
surface (forsandspoons.it)

3.2.4 Counterweights

Counterweights will be used to balance the shaft and to provide a smooth control of the
gimbal. The counterweights that will be used are similar to those incorporated in camera
steady cams. The most common material used to make counterweights is also stainless
steel.

3.2.5 Magnets

To compensate for the different weight of foods, a strong magnet will be used to balance
the gimbal. Neodymium is a rare earth metal and a special material: Combined with iron
and boron it creates the currently strongest permanent magnets in the world.

20
3.3 Proposed Design

3.3.1 Exploded View

21
3.4 Parts List
3.4.1 Gimbal Case

3.4.2 Top Connector

22
3.4.3 Main Bearing

3.4.4 Side and Top Bearing

23
3.4.5 Shaft

3.4.6 Front Counterweight

24
3.4.7 Rear Counterweight, Large

3.4.8 Rear Counterweight, Small

25
3.4.9 Spoon

26
3.4.10 Handle

27
3.4.11 Neodymium Magnets

28
3.4.12 Gimbal Assembly

29
30
3.4.12 Mechanical Spoon Assembly without Magnets (For Solidworks Simulation)

31
3.4.13 Normal Spoon

32
3.4.14 Mechanical Spoon Assembly with Magnets (For Prototype)

Figure 4: Finished Prototype Assembly with Magnets

33
3.5 Design Considerations

3.5.1 Spoon Stabilization

The displacement of light to moderate hand tremor is about 2 cm (Anwar Ahmed and
Patrick Sweeney, 2014). A mechanical gimbal provide stabilization by having the same
torque at the opposite ends of its balance point. While this will work at no load
conditions, a slight increase in load in the either side will result to an imbalanced spoon.
Because of this, the proponents opted to utilize the attraction between two neodymium
magnets; one attached at the end of the rear counterweight and one attached on the base
of the handle. The attractive force between the magnets will compensate for different
loads i.e., different foods. The device must significantly reduce the shaking forces being
transmitted from the user to tip of the spoon.

3.5.2 Range of Movement

The integration of the main, side and top bearings will constitute a three-axis range of
motion. The main bearing for the roll motion, side bearing for the pitch (Y-axis) and top
bearing for the yaw (X-axis). This is an improvement over the existing electronic
stabilizing spoon in the market which has only two-axis range of motion (pitch and yaw).

3.5.3 Weight

The device should not be too heavy to use. Its weight should be comparable to other
weighted utensils available in the market. Weighted utensils have been used to lessen the
hand tremor of a person. Some of the available weighted utensils worldwide are Keatlery
Utensils in which each utensil weighs about 8 oz. (226.796 grams) and Good Grips
Weighted Utensils in which each utensil weights about 6 oz. (170 grams)
(essentialtremor.org).

34
3.6 Experiment Conditions

3.6.1 Simulation Procedure

After mating all the components as shown in 3.4.1 Exploded View, create a motion study
and set a contact between the components. Set "Steel (Dry)" for the front and rear
counterweights, shaft and the spoon and set "Acrylic" for the handle. Then, enable
gravity in the Y-axis. The spoon must be balanced horizontally along the balance point of
the gimbal. Manually adjust the distance of the front counterweight from the shaft until
the spoon is perfectly balanced even in the effect of gravity.

Figure 5: Oscillating Motion Settings

Set an oscillating rotary motion in the handle using various frequencies obtained in Table
2. For simulation of tremor motion along the X and Y axes, let trial 1 be at 3 Hz, trial 2
at 7.5 Hz (average) and trial 3 at 12 Hz. For the displacement, from Table 3, the
displacement of light to moderate hand tremor is about 2 cm. Say, use maximum
displacement = 2 cm. The angle can be approximated using the application of
Trigonometry. Put the location of the oscillating motion at the base of the handle. Since
the length of the handle is 9.6 cm and the displacement is 2 cm, apply the formula 𝑆 =
𝑟ϴ.

35
2 𝑐𝑚 = (9.6 𝑐𝑚)ϴ
180°
ϴ = (0.2083 rad) ∗ = 11.9366° ; say, use 12°
π rad

Calculate for 8 seconds. Plot the linear displacement of the tip of the spoon. After that,
repeat the steps above for a normal spoon. Plot also its linear displacement. Determine
the average displacement of the 2 models (mechanical gimbal spoon and normal spoon)
and determine the percent reduction in tremor using the formula:
𝐴𝑣𝑒𝐴𝑁𝑆 − 𝐴𝑣𝑒𝐴𝑀𝐺𝑆
% 𝑟𝑒𝑑𝑢𝑐𝑡𝑖𝑜𝑛 𝑖𝑛 𝑡𝑟𝑒𝑚𝑜𝑟 = 𝑥 100%
𝐴𝑣𝑒𝐴𝑁𝑆

Where

𝐴𝑣𝑒𝐴𝑁𝑆 - Average amplitude of normal spoon

𝐴𝑣𝑒𝐴𝑀𝐺𝑆 - Average amplitude of mechanical gimbal spoon

3.6.1.1 Simulation Input Data

3.6.1.1.1 Contact Groups

36
3.6.1.1.2 Gravity Parameter

3.6.1.1.3 Distance of Front Counterweight from the Shaft

37
3.6.1.1.4 Trial 1 at 3 Hz, X-axis

38
3.6.1.1.5 Trial 2 at 7.5 Hz, X-axis

39
3.6.1.1.6 Trial 3 at 12 Hz, X-axis

40
3.6.1.1.7 Trial 4 at 3 Hz, Y-axis

41
3.6.1.1.8 Trial 5 at 7.5 Hz, Y-axis

42
3.6.1.1.9 Trial 6 at 12 Hz, Y-axis

43
3.6.2 Prototype

For the prototype, the proponents opted to utilize the attraction between two neodymium
magnets; one attached at the end of the rear counterweight and one attached on the base
of the handle. The attractive force between the magnets will compensate for different
loads i.e., different foods. The prototype will be tested with cooked rice, oatmeal and
cereal with milk. The testing of the prototype will be shown in video while presenting
this project study.

Figure 6: Finished Prototype for Testing with Cooked Rice, Oatmeal and Cereal

44
3.7 Project Development Time Table

45
\

46
3.8 DMAIC Problem Solving of the Project

Define: First is to define the problem and plan the approach. The proponents aim to
improve the daily living of people with hand tremors. Hand tremors can affect everyday
life activities such as eating, drinking, putting clothes and putting make-up.

Analyze: The researchers implemented brainstorming and exchanging of ideas to address

the issue. This step requires identifying the root cause of the problem. Currently there is
no permanent cure for hand tremors, only therapies and medications. The proponents
decided to design a stabilizing spoon that can reduce a person’s hand tremor to make
eating activities easier.

Improve: After a series of brainstorming and designing process, the proponents suggested
ways of innovating the current existing product available in the market. Improvements
include a three-axis range of motion and making the device more cost effective.

Control: To prevent unforeseen problems that may occur in the future, the proponents
will recommend possible improvements of the device.

Replicate and thank the team: After the study has been completed, acknowledgement is
deserved by every member of the research team as well as the professors.

47
Chapter 4: Results and Discussion

The proponents determined the linear displacement graph of both normal spoon and
mechanical gimbal spoon after conducting the said trials in Chapter 3. Select X
component for X-axis and Y component for Y-axis.

Figure 7: Results and Graphs Settings

The amplitude can be determined by extracting the MS Excel file of the graph and
subtracting each displacement values to the average value of the displacement.

Figure 8: Amplitude of a Frequency Graph

48
4.1 Simulation Results

4.1.1 Trial 1

4.1.1.1 Linear Displacement of Normal Spoon at 3 Hz, X-axis

4.1.1.2 Linear Displacement of Mechanical Gimbal Spoon at 3 Hz, X-axis

49
4.1.2 Trial 2

4.1.2.1 Linear Displacement of Normal Spoon at 7.5 Hz, X-axis

4.1.2.2 Linear Displacement of Mechanical Gimbal Spoon at 7.5 Hz, X-axis

50
4.1.3 Trial 3

4.1.3.1 Linear Displacement of Normal Spoon at 12 Hz, X-axis

4.1.3.2 Linear Displacement of Mechanical Gimbal Spoon at 12 Hz, X-axis

51
4.1.4 Trial 4

4.1.4.1 Linear Displacement of Normal Spoon at 3 Hz, Y-axis

4.1.4.2 Linear Displacement of Mechanical Gimbal Spoon at 3 Hz, Y-axis

52
4.1.5 Trial 5

4.1.5.1 Linear Displacement of Normal Spoon at 7.5 Hz, Y-axis

4.1.5.2 Linear Displacement of Mechanical Gimbal Spoon at 7.5 Hz, Y-axis

53
4.1.6 Trial 6

4.1.6.1 Linear Displacement of Normal Spoon at 12 Hz, Y-axis

4.1.6.2 Linear Displacement of Mechanical Gimbal Spoon at 12 Hz, Y-axis

After plotting the linear displacement, it can be seen that the frequencies were carried
over to the tip of the spoon but its displacement has been significantly reduced. Take note
of the Y-axis of the graph: by subtracting the maximum and minimum values, one can
see that the displacement of mechanical gimbal spoon is much lower than the
displacement of a normal spoon. Solving for the percent reduction in tremor:

54
4.2 Percent Reduction in Tremor

Using the tables exported from MS Excel, the proponents were able to calculate the
percent reduction in tremor (Solidworks simulation).

Table 5: Percent Reduction in Tremor per Trial

Frequency / Ave. Amplitude (mm) % Reduction
Trial Direction Normal Spoon Mechanical Gimbal in Tremor
Spoon
1 3 Hz , X-axis 11.2165 4.0461 63.93 %
2 7.5 Hz, X-axis 11.1231 4.0546 63.55 %
3 12 Hz, X-axis 11.3114 4.0927 63.82 %
4 3 Hz, Y-axis 11.459 4.1215 64.03 %
5 7.5 Hz, Y-axis 11.362 4.1888 63.13 %
6 12 Hz, Y-axis 11.457 4.2308 63.07 %

Table 6: Average Percent Reduction in Tremor (3-12 Hz)

Direction Ave. % Reduction in Tremor
X-axis 63.77 %
Y-axis 63.41 %

55
4.3 Prototype Results (Actual Use)

Figure 9: Prototype Tested with Oatmeal

Figure 10: Prototype Tested with Cooked Rice

56
Figure 11: Prototype Tested with Cereal with Milk

57
4.4 Weight of the Device

4.4.1 Solidworks Simulation

4.4.2 Prototype

The weight of the prototype is about 225 grams. This increase in weight can be attributed
to the proponent's use of carbon steel sheet metal for the gimbal connectors instead of
high density polyethylene plastic and the addition of two magnets.

58
4.5 Cost
Table 7: Cost of the Project

Component Cost (PHP)

Handle 80
Shaft 20
Gimbal Case 30
Gimbal Connector 30
Main Bearing 90
Side and Top Bearings 90
Counterweight Front 100
Counterweight Rear, Large 100
Counterweight Rear, Small 100
Spoon 20
Neodymium Magnet (2) 250
Total 910

59
Chapter 5: Summary and Conclusion

The main objective of the project, is to design a stabilizing, tremor reducing mechanical
spoon. Breaking down the objective is as follows:

 The device should be able to minimize at least 50 % the light to moderate tremor
(2 cm tremor displacement) caused by Parkinson's disease (3 - 7 Hz) and essential
tremor (4 - 12 Hz) being transmitted from the user to the utensil mechanically by
using a gimbal, counterweights and magnets;

Using Solidworks, the proponents were able to simulate the motion of a tremor (3-12 Hz
and 2 cm displacement). Since there is no magnetic simulation available in Solidworks,
the proponents only simulated tremor motion on a normal spoon and the mechanical
gimbal spoon at no load conditions. Nonetheless, the simulation data yields that the
device's utilization of a gimbal and counterweights was able to minimize light to
moderate tremor by at least 50 %. The proponents added the magnets in the prototype to
compensate for weight of different foods (cooked rice, oatmeal and cereal with milk).

 To utilize the principles of materials engineering, ergonomics, design and

economics;

The proponents aimed to make this device more accessible economically. Thus,
eliminating complicated electronics and applying a mechanical solution to the problem
yielded a much lower cost to manufacture the device at PHP 910 compared to Liftware
(PHP 15 000). The proponents factored in the design and ergonomics of the design by
making the device still comfortable to hold by adding curves in the handle; by making the
tip of the spoon detachable for easy cleaning; and by making the device's weight (166.89
grams from Solidworks and 225 grams for the prototype) comparable to existing
weighted utensils in the market (170 - 226.796 grams).

60
  To design the components of the project, simulate its motion using Solidworks
motion analysis and determine the percent reduction of vibration;

The proponents used Solidworks to model the device before producing the prototype.
Motion analysis study was used to compare the motion of a normal spoon and the
mechanical gimbal spoon by subjecting them to an oscillating rotary motion mimicking
the available frequency data for Parkinson's disease and essential tremor. After
simulation, data available from the results were analyzed and the percent reduction in
tremor was calculated (63.77 % along the X-axis and 63.41 % along the Y-axis).

 To build and test the prototype, and;

After modelling and simulation, the proponents were able to fabricate the prototype. The
results as seen on video shows a significant reduction in tremor when the prototype was
tested in cooked rice, oatmeal and cereal with milk.

 To be able to present the study on March 4, 2017

After meeting the other four specific objectives, the proponents are now ready to present
the study on March 4, 2017.

Summary

The project is very beneficial in the medical field considering the number of essential
tremor and Parkinson's disease patients worldwide. The application of mechanical
solution to tremor stabilization is feasible. This project can give persons with hand tremor
the degree of independence to once again feed themselves. The overall cost of the device
makes it more cost effective compared to other existing products.

61
Chapter 6: Recommendation for Future Work

For the continuous study of this research for the future interested researcher, the
proponents recommend the fabrication of a separate attachment (soup spoon) which has
more width and depth than a traditional spoon. Furthermore, a locking mechanism when
scooping food would make the device easier to use. Lastly, the use of actual bearings for
the side and top gimbal connections would make the motion smoother and improve the
overall stabilization of the device.

62
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