I have come to the conclusion that the DSLR form factor cannot be effectively shot handheld without some form of lens stabilization or a shoulder support like this. I am a very good camera man and am very stable but the lightweight and design of the DSLR's make it troublesome for handheld shots.
The basic design has been covered in another thread:
http://www.quantumpetshop.com/tutorials/cambrace.asp
http://www.dvxuser.com/V6/showthread.php?t=191696
but I made some modifications to it after trying many different configurations and rather than reviving the old thread and digging through it I thought I'd post a new one.
The angled grips make all the difference in the world as in-line grips don't help with the roll problem which the DSLR's form factor exasperates. The pitch and yaw movement isn't nearly as troublesome but this also stabilizes these well. I also added more padding covered by a black stocking which allows me to rest my chin on for further stabilization. This is the cheapest low profile design that gave me great results.

Edit:
Added two 2.5 lb counter weights. Easier to handle for long periods. Simply added a 90 degree 1/2" to 3/4" joint with a small section of 3/4" PVC. Got two 2.5 lb weights from Sears for about $4 and placed them on the secion of PVC and then put on an end cap.
The basic design has been covered in another thread:
http://www.quantumpetshop.com/tutorials/cambrace.asp
http://www.dvxuser.com/V6/showthread.php?t=191696
but I made some modifications to it after trying many different configurations and rather than reviving the old thread and digging through it I thought I'd post a new one.
The angled grips make all the difference in the world as in-line grips don't help with the roll problem which the DSLR's form factor exasperates. The pitch and yaw movement isn't nearly as troublesome but this also stabilizes these well. I also added more padding covered by a black stocking which allows me to rest my chin on for further stabilization. This is the cheapest low profile design that gave me great results.

Edit:
Added two 2.5 lb counter weights. Easier to handle for long periods. Simply added a 90 degree 1/2" to 3/4" joint with a small section of 3/4" PVC. Got two 2.5 lb weights from Sears for about $4 and placed them on the secion of PVC and then put on an end cap.
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