What's the best way to grind fresh garlic cloves?

They have the grinders that have a cage with a levered lid you press down to force the condiment against a wheel with a series of grinding teeth formed in it. You crank the wheel to rotate it against the object you wish to grind. But garlic and onion tend to come off in layers and end up going round and round with the wheel.

Does anyone know of a really good kitchen tool that will grind garlic cloves uniformly and completely. We want to spike up our salads and noodle soups with the natural antibiotic power of garlic without the painful experience of biting into a large chunk or whole clove of fresh garlic.