The Movement Disorder Society defines tremor as an involuntary rythmi-cal 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 physiological tremor. However, there are other forms of pathological tremor that can be very disabling, and often a cause of social exclusion (Rocon et al. 2004). There are many pathologies that can cause pathological tremor, among others Essential Tremor, Parkinson Disease, brain trauma or multiple sclerosis. Common treatments of tremor are pharmacological and surgical. Pharmacological treatments depend on the specific pathology that causes tremor. For instance Parkinson disease tremor is treated with L-dopa, and common treatments for Essential Tremor are blockers (Deuschl et al. 1998). Surgical classical treatment for tremor is thalamic thermocoagulation (Deuschl et al. 2000). However from mid 90’s Deep Brain Stimulation (DBS) is preferred to thermocoagulation (Deuschl et al. 2000). Despite these therapies, there are still an important number of people with pathological tremor resistant to the common treatments (Deuschl et al. 1998). Thus, other alternatives are of interest to help people suffering from different kinds of pathological tremor. Many of these alternatives focus on removing the consequences of tremor rather than its origins. Among others the following approaches can be mentioned: Removing the tremor from a tremorous signal (Riviere & Thakor, 1996; Gonzalez et al. 2000) Design of assistive devices based in dampers (such as the NeaterEater or the MouseTrap Design of robotics systems to suppress tremor. This chapter focuses the attention on the design of robotics systems to suppress tremor. First of all, we will introduce different strategies to suppress tremor using robotic approaches, then we will show the biomechanical and ergonomics issues to take into consideration in the design of these robotic systems, finally we will introduce a set of guidelines to take into account in the design of robotics systems for tremor suppression.

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