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Sounds like you would be better off with a Steadicam type of device. A good one will isolate the camera from your tremors. There is a learning curve, and it can be very tiring to hold for extended periods of time. Cheap DIY stabilizers can be built from PVC or electrical conduit, but the key element is a smooth gimbal. Any tripod you attach or mount to a quad will suffer from crazy vibrations.
I’ve seen some sport/reality camera ops using backpack mounted stabilization rigs like the Turtle X. It’s expensive, but you might be able to borrow the concept and rig up something similar.