diff --git a/Gui.h b/Gui.h
index d06622f..d02c34c 100644
--- a/Gui.h
+++ b/Gui.h
@@ -181,8 +181,9 @@ extern uint32_t imu_log_samples;
 extern uint32_t imu_log_start_ms;
 // Forward declaration for touch logging (defined in IMULogger.h)
 void sensor_log_touch(int16_t x, int16_t y, bool pressed);
-// Forward declarations for filtered accel (defined in .ino)
+// Forward declarations for filtered accel and noise (defined in .ino)
 extern volatile float imu_ax_f, imu_ay_f, imu_az_f;
+extern volatile float imu_noise;
 #ifndef PMU_TEMP_MIN
 #define PMU_TEMP_MIN -30
 #endif
@@ -817,10 +818,14 @@ static void gui_update_data() {
         float target_x = tilt_dir_x * mapped_r;
         float target_y = -tilt_dir_y * mapped_r;
 
-        // Spring-damper: overdamped for viscous fluid feel
-        // Sub-step at 20ms to keep integration stable at any frame rate
-        const float spring = 40.0f;
-        const float damping = 12.0f;
+        // Adaptive spring-damper: snappy when still, viscous when noisy
+        // noise < 0.001 (desk): spring=80 damp=16 → settles in ~0.15s
+        // noise > 0.01 (hand):  spring=30 damp=14 → settles in ~0.4s
+        float noise_t = imu_noise < 0.001f ? 0.0f :
+                        imu_noise > 0.01f  ? 1.0f :
+                        (imu_noise - 0.001f) / 0.009f;
+        float spring  = 80.0f - 50.0f * noise_t;
+        float damping = 16.0f -  2.0f * noise_t;
         const float max_sub = 0.02f;
         int steps = (int)(dt / max_sub) + 1;
         float sdt = dt / steps;
diff --git a/RNode_Firmware.ino b/RNode_Firmware.ino
index f160257..8df27fd 100644
--- a/RNode_Firmware.ino
+++ b/RNode_Firmware.ino
@@ -33,17 +33,24 @@
   volatile uint32_t imu_step_count = 0;
   volatile bool imu_wrist_tilt = false;
 
-  // Filtered accelerometer for bubble level (EMA, α=0.15)
+  // Filtered accelerometer for bubble level with adaptive noise tracking
   volatile float imu_ax_f = 0, imu_ay_f = 0, imu_az_f = 4096;
-  #define IMU_EMA_ALPHA 0.15f
+  volatile float imu_noise = 0;  // running estimate of accel noise (0=still, 1+=noisy)
   void imu_accel_live_cb(uint8_t sensor_id, uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data) {
     if (size >= 6) {
       float ax = (int16_t)(data[0] | (data[1] << 8));
       float ay = (int16_t)(data[2] | (data[3] << 8));
       float az = (int16_t)(data[4] | (data[5] << 8));
-      imu_ax_f += IMU_EMA_ALPHA * (ax - imu_ax_f);
-      imu_ay_f += IMU_EMA_ALPHA * (ay - imu_ay_f);
-      imu_az_f += IMU_EMA_ALPHA * (az - imu_az_f);
+      // Noise: EMA of squared deviation from filtered value
+      float dx = ax - imu_ax_f, dy = ay - imu_ay_f, dz = az - imu_az_f;
+      float dev = (dx*dx + dy*dy + dz*dz) / (4096.0f * 4096.0f);
+      imu_noise += 0.1f * (dev - imu_noise);
+      // Adaptive EMA: responsive when quiet, smooth when noisy
+      float alpha = (imu_noise < 0.001f) ? 0.4f :
+                    (imu_noise < 0.01f)  ? 0.2f : 0.08f;
+      imu_ax_f += alpha * (ax - imu_ax_f);
+      imu_ay_f += alpha * (ay - imu_ay_f);
+      imu_az_f += alpha * (az - imu_az_f);
     }
   }