Multiple degrees of freedom wrist prostheses

Multiple degrees of freedom wrist prostheses: Design of an electrically powered two DoF wrist prosthesis

Binda, Jasper (TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Biomechanical Engineering)

Plettenburg, Dick (mentor)
van der Helm, Frans (graduation committee)
van Ostayen, Ron (graduation committee)

Delft University of Technology

2018-04-17

Current wrist prostheses offer limited functionality regarding degrees of freedom and range of motion. A new two degrees of freedom wrist mechanism was designed and based on this concept a prototype was build and tested. Testing included generated torque measurements, externally applied torques, weight and size measurements. The prototype has a 50 mm diameter, stands 68 mm tall and weighs 230 grams. The device is capable of providing active flexion/extension and pronation/supination with approximate output torques of 0.3 and 0.2 Nm respectively. The lack of output torques is most likely caused by the use of a 3D printed housing which resulted in several alignment issues, introducing additional friction into the system. In conclusion the concept provides the desired motion in a relatively compact size, however future work should increase the performance starting by designing a better, preferably non 3D printed, housing.

Wrist prosthesis
Electric
Design

http://resolver.tudelft.nl/uuid:53500b56-a52e-472b-827c-aba6a73ac85f

Student theses

master thesis

© 2018 Jasper Binda