DataVXJournal of Bionic EngineeringPaper
journal article·2025-05

Design and Experiment of a Compact 3-DOF Humanoid Wrist with High Payload Capacity

Shengyin Wang, Zirong Luo, Shanjun Chen, Yiming Zhu, Haisen Zeng, Jianzhong Shang

Journal of Bionic Engineering· Volume 22· Issue 3
Publisher page
Bibliographic record

Abstract

No abstract is available for this record. The assistant can identify its topic from the title, but cannot infer the study’s results.

Source: Not provided · Quality: missing

Research context

OpenAlex topics: Robotic Locomotion and Control · Mechatronics Education and Applications · Robotic Mechanisms and Dynamics

SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.

References (43)

Show source-provided references
1. Xu, Z., Matsuoka, Y., & Deshpande, A. D. (2015). Crocheted artificial tendons and ligaments for the anatomically correct testbed (ACT) hand. In 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), Zhuhai, China, pp. 2449–2453.10.1109/ROBIO.2015.7419706 ↗
2. Xu, Z., & Todorov, E. (2016). Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration. In 2016 IEEE International Conference on Robotics and Automation (ICRA). Stockholm, Sweden, pp. 3485–3492.10.1109/ICRA.2016.7487528 ↗
3. Damerla, R., Rice, K., Rubio-Ejchel, D., Miro, M., Braucher, E., Foote, J., Bourai, I., Singhal, A., Yang, K., Guang, H. J., Iakimovitch, V., Sorgenfrei, E., & Awtar, S. (2022). Design and testing of a novel, high-performance two DoF prosthetic wrist. IEEE Transactions on Medical Robotics and Bionics, 4(2), 502–519. https://doi.org/10.1016/j.jhazmat.2007.02.01710.1016/j.jhazmat.2007.02.017 ↗
4. Fan, H. B., Wei, G. W., & Ren, L. (2022). Prosthetic and robotic wrists comparing with the intelligently evolved human wrist: A review. Robotica, 40(11), 4169–4191. https://doi.org/10.1017/S026357472200085610.1017/S0263574722000856 ↗
5. Gouaillier, D., Hugel, V., Blazevic, P., Kilner, C., Monceaux, J., & Lafourcade, P. (2009). Mechatronic design of NAO humanoid. In 2009 IEEE International Conference on Robotics and Automation(ICRA). Kobe, Japan, pp. 769–774.10.1109/ROBOT.2009.5152516 ↗
6. Englsberger, J., Werner, A., Ott, C., Henze, B., Roa, M. A., & Garofalo, G. (2014). Overview of the torque-controlled humanoid robot TORO. In 2014 IEEE-RAS International Conference on Humanoid Robots. Madrid, Spain, pp. 916–923.10.1109/HUMANOIDS.2014.7041473 ↗
7. Lenzi, T., Lipsey, J., & Sensinger, J. W. (2016). The RIC arm—A small anthropomorphic transhumeral prosthesis. IEEE/ASME Transactions on Mechatronics, 21(6), 2660–2671. https://doi.org/10.1109/TMECH.2016.259610410.1109/TMECH.2016.2596104 ↗
8. Kyberd, P. J., Lemaire, E. D., Scheme, E., MacPhail, C., Goudreau, L., Bush, G., & Brookeshaw, M. (2011). Two-degree-of-freedom powered prosthetic wrist. Journal of Rehabilitation Research & Development, 48(6), 609–617.https://doi.org/10.1682/JRRD.2010.07.013710.1682/JRRD.2010.07.0137 ↗
9. Fite, K. B., Withrow, T. J., Shen, X., Wait, K. W., Mitchell, J. E., & Goldfarb, M. (2008). A gas-actuated anthropomorphic prosthesis for transhumeral amputees. IEEE Transactions on Robotics, 24(1), 159–169. https://doi.org/10.1109/TRO.2007.91484510.1109/TRO.2007.914845 ↗
10. Bridgwater, L. B., Ihrke, C. A., Diftler, M. A., Abdallah, M. E., Radford, N. A., & Rogers, J. M. (2012). The robonaut 2 hand-designed to do work with tools. In 2012 IEEE International Conference on Robotics and Automation. MN, USA, pp. 3425–3430.10.1109/ICRA.2012.6224772 ↗
11. Bandara, D. S. V., Gopura, R. A. R. C., Hemapala, K. T. M. U., & Kiguchi, K. (2014). A multi-DoF anthropomorphic transradial prosthetic arm. In 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronic. Sao Paulo, Brazil, pp. 1039–1044.10.1109/BIOROB.2014.6913917 ↗
12. Albers, A., Brudniok, S., Ottnad, J., Sauter, C., & Sedchaicharn, K. (2006). Upper body of a new humanoid robot-the design of ARMAR III. In 6th IEEE-RAS International Conference on Humanoid Robots. Genova, Italy, 2006, pp. 308–313.10.1109/ICHR.2006.321289 ↗
13. Asfour, T., Regenstein, K., Azad, P., Schroder, J., Bierbaum, A., Vahrenkamp, N., & Dillmann, R. (2006). ARMAR-III: An integrated humanoid platform for sensory-motor control. In 6th IEEE-RAS international conference on humanoid robots. Genova, Italy, 2006, pp. 169–175.10.1109/ICHR.2006.321380 ↗
14. Stasse, O., Flayols, T., Budhiraja, R., Giraud-Esclasse, K., Carpentier, J., & Mirabel (2017). J. TALOS: A new humanoid research platform targeted for industrial applications. In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids). Birmingham, UK, pp. 689–695.10.1109/HUMANOIDS.2017.8246947 ↗
15. Yoshiike, T., Kuroda, M., Ujino, R., Kaneko, H., Higuchi, H., & Iwasaki, S. (2017). Development of experimental legged robot for inspection and disaster response in plants. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vancouver, BC, Canada, pp. 4869–4876.10.1109/IROS.2017.8206364 ↗
16. Hong, M. B., & Jo, Y. H. (2013). Design of a novel 4-DOF wrist-type surgical instrument with enhanced rigidity and dexterity. IEEE/ASME Transactions on Mechatronics, 19(2), 500–511. https://doi.org/10.1109/TMECH.2013.224514310.1109/TMECH.2013.2245143 ↗
17. Birglen, L., Gosselin, C., Pouliot, N., Monsarrat, B., & Laliberté, T. (2002). SHaDe, a new 3-DOF haptic device. IEEE Transactions on Robotics and Automation, 18(2), 166–175. https://doi.org/10.1109/TRA.2002.99964510.1109/TRA.2002.999645 ↗
18. Bajaj, N. M., & Dollar, A. M. (2018). Design and preliminary evaluation of a 3-DOF powered prosthetic wrist device. In 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). Enschede, Netherlands, 2018, pp. 119–125.10.1109/BIOROB.2018.8487192 ↗
19. Mustafa, S. K., Yang, G., Yeo, S. H., Lin, W., & Pham, C. B. (2006). Development of a bio-inspired wrist prosthesis. In 2006 IEEE Conference on Robotics, Automation and Mechatronics. Bangkok, Thailand, pp. 1–6.10.1109/RAMECH.2006.252716 ↗
20. Montagnani, F., Controzzi, M., & Cipriani, C. (2015). Is it finger or wrist dexterity that is missing in current hand prostheses? IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23(4), 600–609. https://doi.org/10.1109/TNSRE.2015.239811210.1109/TNSRE.2015.2398112 ↗
21. Adams, B. D., Grosland, N. M., Murphy, D. M., & McCullough, M. (2003). Impact of impaired wrist motion on hand and upper-extremity performance. The Journal of Hand Surgery, 28(6), 898–903. https://doi.org/10.1016/S0363-5023(03)00424-610.1016/S0363-5023(03)00424-6 ↗
22. Mell, A. G., Childress, B. L., & Hughes, R. E. (2005). The effect of wearing a wrist splint on shoulder kinematics during object manipulation. Archives of Physical Medicine and Rehabilitation, 86(8), 1661–1664. https://doi.org/10.1016/j.apmr.2005.02.00810.1016/j.apmr.2005.02.008 ↗
23. Palmer, A. K., Werner, F. W., Murphy, D., & Glisson, R. (1985). Functional wrist motion: A Biomechanical study. The Journal of Hand Surgery, 10(1), 39–46. https://doi.org/10.1016/S0363-5023(85)80246-X10.1016/S0363-5023(85)80246-X ↗
24. Jones, L. E., & Davidson, J. H. (1999). Save that arm: A study of problems in the remaining arm of unilateral upper limb amputees. Prosthetics and Orthotics International, 23(1), 55–58. https://doi.org/10.3109/0309364990907161110.3109/03093649909071611 ↗
25. Datta, D., Selvarajah, K., & Davey, N. (2004). Functional outcome of patients with proximal upper limb deficiency–acquired and congenital. Clinical Rehabilitation, 18(2), 172–177. https://doi.org/10.1191/0269215504cr716oa10.1191/0269215504cr716oa ↗
26. Gambrell, C. R. (2008). Overuse syndrome and the unilateral upper limb amputee: Consequences and prevention. JPO: Journal of Prosthetics and Orthotics, 20(3), 126–132. https://doi.org/10.1097/JPO.0b013e31817ecb1610.1097/JPO.0b013e31817ecb16 ↗
27. Huang, B., Li, M., Mei, T., McCoul, D., Qin, S., Zhao, Z., & Zhao, J. (2017). Wearable stretch sensors for motion measurement of the wrist joint based on dielectric elastomers. Sensors (Basel, Switzerland), 17(12), 2708. https://doi.org/10.3390/s1712270810.3390/s17122708 ↗
28. Damerla, R., & Awtar, S. (2021). Constraint-based analysis of parallel kinematic articulated wrist mechanisms. Journal of Mechanisms and Robotics, 13(3), 035001. https://doi.org/10.1115/1.404994710.1115/1.4049947 ↗
29. Marley, R. J., & Thomson, M. R. (2000). Isokinetic strength characteristics in wrist flexion and extension. International Journal of Industrial Ergonomics, 25(6), 633–643. https://doi.org/10.1115/1.404994710.1115/1.4049947 ↗
30. Xia, T., & Frey–Law, L. A. (2015). Wrist joint torque–angle–velocity performance capacity envelope evaluation and modelling. International Journal of Human Factors Modelling and Simulation, 5(1), 33–52. https://doi.org/10.1504/IJHFMS.2015.06812010.1504/IJHFMS.2015.068120 ↗
31. White, R. M. (1980). Comparative anthropometry of the hand. US Army Research and Development Command, Natick, Massachusetts Technical Report NATICK/TR-81/010 (AD A101070). Retrieved October 30, 2009.10.21236/ADA101070 ↗
32. Schoenmarklin, R. W., & Marras, W. S. (1993). Dynamic capabilities of the wrist joint in industrial workers. International Journal of Industrial Ergonomics, 11(3), 207–224. https://doi.org/10.1016/0169-8141(93)90109-Q10.1016/0169-8141(93)90109-Q ↗
33. Bonebrake, A. R., Fernandez, J. E., Marley, R. J., Dahalan, J. B., & Kilmer, K. J. (1990). A treatment for carpal tunnel syndrome: Evaluation of objective and subjective measures. Journal of Manipulative and Physiological Therapeutics, 13(9), 507–520.
34. Soucie, J. M., Wang, C., Forsyth, A., Funk, S., Denny, M., Roach, K. E., & Boone, D. (2011). Range of motion measurements: Reference values and a database for comparison studies. Haemophilia, 17(3), 500–507. https://doi.org/10.1111/j.1365-2516.2010.02399.x10.1111/j.1365-2516.2010.02399.x ↗
35. Marshall, M. M., Mozrall, J. R., & Shealy, J. E. (1999). The effects of complex wrist and forearm posture on wrist range of motion. Human Factors, 41(2), 205–213. https://doi.org/10.1518/00187209977959117810.1518/001872099779591178 ↗
36. Sardelli, M., Tashjian, R. Z., & MacWilliams, B. A. (2011). Functional elbow range of motion for contemporary tasks. JBJS, 93(5), 471–477. https://doi.org/10.2106/JBJS.I.0163310.2106/JBJS.I.01633 ↗
37. Aizawa, J., Masuda, T., Koyama, T., Nakamaru, K., Isozaki, K., Okawa, A., & Morita, S. (2010). Three-dimensional motion of the upper extremity joints during various activities of daily living. Journal of Biomechanics, 43(15), 2915–2922. https://doi.org/10.1016/j.jbiomech.2010.07.00610.1016/j.jbiomech.2010.07.006 ↗
38. Matsuoka, J., Berger, R. A., Berglund, L. J., & An, K. N. (2006). An analysis of symmetry of torque strength of the forearm under resisted forearm rotation in normal subjects. The Journal of Hand Surgery, 31(5), 801–805. https://doi.org/10.1016/j.jhsa.2006.02.01910.1016/j.jhsa.2006.02.019 ↗
39. Gosselin, C., & Angeles, J. (1991). A global performance index for the kinematic optimization of robotic manipulators. Journal of Mechanical Design, 113(3), 220–226. https://doi.org/10.1115/1.291277210.1115/1.2912772 ↗
40. Iversen, E. K., Christensen, J., & Jacobs, G. J. (2020). Powered prosthetic flexion device. U S Patent, 375, 761A1.
41. Fillauer (2025). MC ProWrist Rotator. Retrieved February 19, 2025, from https://fillauer.com/products/mc-prowrist-rotator/
42. Zinck, A., Stavdahl, Ø., Biden, E., & Kyberd, P. J. (2012). Design of a compact, reconfigurable, prosthetic wrist. Applied Bionics and Biomechanics, 9(1), 117–124. https://doi.org/10.3233/ABB-2011-004310.3233/ABB-2011-0043 ↗
43. Verleg, M. N. (2015). Wrist prosthesis. New Two Degrees-Of-Freedom Hydraulic Wrist Mechanism for Hand Prostheses.