Abstract: A stability augmentation system for stabilizing human limbs from against limb tremors. The stability augmentation system includes: and arm brace; a plurality of piezoelectric sensors fixed on said arm brace for sensing angular motion about a first axis of a limb induced by alternating perturbations; and a plurality of piezoelectric actuators coupled to the limb and piezoelectric sensor, said piezoelectric actuator being responsive to the piezoelectric sensors for selectively applying a torque to the limb representative of the sensed angular motion such that the angular motion about the first axis induced by the perturbation is cancelled, said plurality of piezoelectric actuators concurrently applying a reactive torque, equal and opposite to the applied torque, to the limb.