Development of a Cable-Driven Bionic Spherical Joint for a Robot Wrist
Wrist movements play a crucial role in upper-limb motor tasks. As prosthetic and robotic hand technologies have evolved, increasing attention has been focused on replicating the anatomy and functionality of the wrist. Closely imitating the biomechanics and movement mechanisms of human limbs is expec...
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MDPI AG
2025-01-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/10/1/52 |
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| author | Zixun He Yutaka Ito Shotaro Saito Sakura Narumi Yousun Kang Duk Shin |
| author_facet | Zixun He Yutaka Ito Shotaro Saito Sakura Narumi Yousun Kang Duk Shin |
| author_sort | Zixun He |
| collection | DOAJ |
| description | Wrist movements play a crucial role in upper-limb motor tasks. As prosthetic and robotic hand technologies have evolved, increasing attention has been focused on replicating the anatomy and functionality of the wrist. Closely imitating the biomechanics and movement mechanisms of human limbs is expected to enhance the overall performance of bionic robotic hands. This study presents the design of a tendon-driven bionic spherical robot wrist, utilizing two pairs of cables that mimic antagonist muscle pairs. The cables are actuated by pulleys driven by servo motors, allowing for two primary wrist motions: flexion–extension and ulnar–radial deviation. The performance Please confirm if the “1583 Iiyama” is necessary. Same as belowof the proposed robot wrist is validated through manipulation experiments using a prototype, demonstrating its capability to achieve a full range of motion for both ulnar and radial deviation. This wrist mechanism is expected to be integrated into robotic systems, enabling greater flexibility and more human-like movement capabilities. |
| format | Article |
| id | doaj-art-7d1f018538c145b492d854f5997e3da8 |
| institution | Kabale University |
| issn | 2313-7673 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-7d1f018538c145b492d854f5997e3da82025-01-24T13:24:44ZengMDPI AGBiomimetics2313-76732025-01-011015210.3390/biomimetics10010052Development of a Cable-Driven Bionic Spherical Joint for a Robot WristZixun He0Yutaka Ito1Shotaro Saito2Sakura Narumi3Yousun Kang4Duk Shin5Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, JapanDepartment of Mechanical Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, JapanGraduate School of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, JapanGraduate School of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, JapanFaculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, JapanFaculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, JapanWrist movements play a crucial role in upper-limb motor tasks. As prosthetic and robotic hand technologies have evolved, increasing attention has been focused on replicating the anatomy and functionality of the wrist. Closely imitating the biomechanics and movement mechanisms of human limbs is expected to enhance the overall performance of bionic robotic hands. This study presents the design of a tendon-driven bionic spherical robot wrist, utilizing two pairs of cables that mimic antagonist muscle pairs. The cables are actuated by pulleys driven by servo motors, allowing for two primary wrist motions: flexion–extension and ulnar–radial deviation. The performance Please confirm if the “1583 Iiyama” is necessary. Same as belowof the proposed robot wrist is validated through manipulation experiments using a prototype, demonstrating its capability to achieve a full range of motion for both ulnar and radial deviation. This wrist mechanism is expected to be integrated into robotic systems, enabling greater flexibility and more human-like movement capabilities.https://www.mdpi.com/2313-7673/10/1/52bionic robotsrobotic wristsspherical jointscable-driven mechanism |
| spellingShingle | Zixun He Yutaka Ito Shotaro Saito Sakura Narumi Yousun Kang Duk Shin Development of a Cable-Driven Bionic Spherical Joint for a Robot Wrist Biomimetics bionic robots robotic wrists spherical joints cable-driven mechanism |
| title | Development of a Cable-Driven Bionic Spherical Joint for a Robot Wrist |
| title_full | Development of a Cable-Driven Bionic Spherical Joint for a Robot Wrist |
| title_fullStr | Development of a Cable-Driven Bionic Spherical Joint for a Robot Wrist |
| title_full_unstemmed | Development of a Cable-Driven Bionic Spherical Joint for a Robot Wrist |
| title_short | Development of a Cable-Driven Bionic Spherical Joint for a Robot Wrist |
| title_sort | development of a cable driven bionic spherical joint for a robot wrist |
| topic | bionic robots robotic wrists spherical joints cable-driven mechanism |
| url | https://www.mdpi.com/2313-7673/10/1/52 |
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