Sensor-Fusion

ESP32 Stabilised Spoon for Parkinson's Disease

A self-levelling spoon for hand tremor: an ESP32 fuses MPU6050 accelerometer and gyro data to hold the spoon head level with two servos, correcting roll and pitch in real time.

• Built to counteract hand tremor from Parkinson's disease or essential tremor
• Complementary filter fuses MPU6050 accelerometer and gyro data into a stable roll/pitch estimate
• Two servos actively counter measured tilt in real time to hold the spoon head level
• Boot-time auto-calibration zeroes out mounting offset in about a second