This paper introduces the work developed by the authors in the study of tremor time series. First, it introduces a novel technique for the study of tremor. The technique presented is a high-resolution technique that solves most of limitations of the Fourier Analysis (the standard technique to the study of tremor time series). This technique was used for the study of tremorous movement in joints of the upper limb. After, some conclusions about tremor behaviour in upper limb based on the technique introduces are presented. Furthermore, an algorithm able to estimated in real-time the voluntary and the tremorous movement was presented. This algorithm was validated in two contexts with successful results. Finally, some conclusions and future work are given.