He Zixun, Ito Yutaka, Saito Shotaro, Narumi Sakura, Kang Yousun, Shin Duk
Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, Japan.
Department of Mechanical Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, Japan.
Biomimetics (Basel). 2025 Jan 14;10(1):52. doi: 10.3390/biomimetics10010052.
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.
腕部运动在上肢运动任务中起着至关重要的作用。随着假肢和机器人手技术的不断发展，人们越来越关注复制手腕的解剖结构和功能。紧密模仿人类肢体的生物力学和运动机制有望提高仿生机器人手的整体性能。本研究提出了一种肌腱驱动的仿生球形机器人手腕的设计，利用两对模仿拮抗肌对的电缆。电缆由伺服电机驱动的滑轮驱动，实现两种主要的手腕运动：屈伸和尺桡偏斜。通过使用原型进行操作实验，验证了所提出的机器人手腕的性能，证明了其实现尺偏和桡偏全范围运动的能力。这种手腕机构有望集成到机器人系统中，实现更大的灵活性和更类人的运动能力。
