Just a thought, but in prosthesis design microcontroller driven memory wire could be used to smooth out tremors in fine motor control.
The "art" is in the control software itself, use MATLAB to model the system and tune the PID parameters.
Search for terms like "Robust System Design", and "Robust PID control".
A demonstration project could involve a single finger stabilization, or an ankle force/angle detection to make
a braced leg easier to walk with (much better than statically loaded springs).