  This paper presents the development of a new passive assistive handwriting
device, which aims to stabilize the motion of people living with movement
disorders. Many people living with conditions such as cerebral palsy, stroke,
muscular dystrophy or dystonia experience upper limbs impairments (muscle
spasticity, unselective motor control, muscle weakness or tremors) and are
unable to write or draw on their own. The proposed device is designed to be
fixed on a table. A pen is attached to the device using a pen holder, which
maintains the pen in a fixed orientation. The user interacts with the device
using a handle while mechanical dampers and inertia contribute to the
stabilization of the user's movements. The overall mechanical design of the
device is first presented, followed by the design of the pen holder mechanism.
