Development of 2-DOF Wrist Joint for Pediatric Prosthetic Hand using a Compliant Mechanism

• DOI: 10.1299/jsmermd.2023.2a1-c09
• Publication Date: 2024-01-24T22:18:36Z
• Authors: Keisuke OSAWA; Kaiwen DUAN; Xiuyuan WU; Eiichiro TANAKA

In recent years, with the development of robotic technology, prosthetic hands sophisticated functions have been actively researched. On other hands, in terms size, number parts, and customization, low-cost, functional pediatric hand compliant wrist joint hasn’t developed yet. this study, we a 2-DOF for using mechanism, constructed its design methodology, conducted an evaluation experiment prototype. The proposed structure enables circular motion by combining four movements: flexion, extension, adduction, abduction, succeeded acquiring movability similar to human skeletal giving anisotropy arrangement elastic hinges. It can be manufactured monolithically, which is advantageous mass production assembly.