Development of the carpal robotic wrist

1998 ◽  
pp. 423-434 ◽  
Author(s):  
Stephen L. Canfield ◽  
Charles F. Reinholtz
Keyword(s):  
Robotic Wrist

scholarly journals Testing of parameters of proposed robotic wrist based on the precision modules

2016 ◽  
Vol 13 (5) ◽  
pp. 172988141666277 ◽  
Author(s):  
Jan Semjon ◽  
Mikulas Hajduk ◽  
Marek Sukop ◽  
Vladimir Balaz ◽  
Zbigniew Pilat ◽  
...  
Keyword(s):  
Robotic Wrist

Mechanical Design of a Bioinspired Compliant Robotic Wrist Rehabilitation Equipment

2021 ◽  
Vol 11 (3) ◽  
pp. 1246
Author(s):  
Ovidiu Filip ◽  
Andrea Deaconescu ◽  
Tudor Deaconescu
Keyword(s):  
Mechanical Design ◽  
Pneumatic Muscle ◽  
Social Reintegration ◽  
Constructive Solution ◽  
Fin Ray ◽  
Patient Pain ◽  
Passive Mobilization ◽  
Robotic Wrist ◽  
Compliant Actuator

Early social reintegration of patients with disabilities of the wrist is possible with the help of dedicated rehabilitation equipment. Using such equipment reduces the duration of recovery and reduces significantly rehabilitation costs. Based on these considerations the paper puts forward a novel constructive solution of rehabilitation equipment that ensures the simultaneous passive mobilization of the radiocarpal, metacarpophalangeal, and interphalangeal joints. The novelty of this equipment consists in the bioinspired concept of the hand support based on the Fin-Ray effect and in driving it by means of a pneumatic muscle, an inherently compliant actuator. The paper places an emphasis on the compliant character of the rehabilitation equipment that is responsible for its adaptability to the concrete conditions of patient pain tolerability.

scholarly journals Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation

2017 ◽  
Author(s):  
Evan Pezent ◽  
Chad G. Rose ◽  
Ashish D. Deshpande ◽  
Marcia K. O'Malley
Keyword(s):  
Robotic Wrist

A Compliant Robotic Wrist Orthosis Driven by Twisted String Actuators

2021 ◽  
Author(s):  
Thulani Tsabedze ◽  
Erik Hartman ◽  
Cianan Brennan ◽  
Jun Zhang
Keyword(s):  
Twisted String ◽  
Robotic Wrist

A simple and compact parallel robotic wrist for laparoscopy

2012 ◽  
Author(s):  
J. M. Sabater-Navarro ◽  
N. Garcia ◽  
J. Rodriguez ◽  
R. Morales ◽  
F. J. Badesa ◽  
...  
Keyword(s):  
Robotic Wrist

Design and Prototyping of a Force-Reflecting Hand-Controller for Ultrasound Imaging

2011 ◽  
Vol 3 (2) ◽  
Author(s):  
Farshid Najafi ◽  
Nariman Sepehri
Keyword(s):  
Ultrasound Imaging ◽  
Static Friction ◽  
Parallel Mechanisms ◽  
Detailed Design ◽  
Remote Locations ◽  
Output Force ◽  
And Performance ◽  
Drive Systems ◽  
Robotic Wrist ◽  
Fixed Center

This paper presents detailed design, analysis, prototyping, and testing of a novel force-reflecting hand-controller allowing physicians to control a robotic wrist and perform ultrasound examinations on patients in remote locations. The proposed device is a four degree-of-freedom mechanism with a fixed center-of-motion and uses symmetric parallel mechanisms. All movements of the device are kinematically decoupled, i.e., the hand-controller has independent drive systems for each standard ultrasound motion. A technique has been adapted to statically balance the weight of the device over its entire workspace using a single tension spring. The prototype of the device has been constructed and evaluated for ultrasound imaging of kidney and spleen. Maximum and accuracy of the output force are analytically determined and performance of the device in terms of static balancing, static-friction break-away force, and maximum achievable impedances are experimentally evaluated.

Analysis and implementation of a 6 DOF Stewart Platform-based robotic wrist

1991 ◽  
Vol 17 (3) ◽  
pp. 191-203 ◽  
Author(s):  
Charles C. Nguyen ◽  
Sami C. Antrazi ◽  
Zhen-Lei Zhou ◽  
Charles E. Campbell
Keyword(s):  
Stewart Platform ◽  
Robotic Wrist

Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot

2015 ◽  
Vol 9 (1) ◽  
Author(s):  
Jianmin Li ◽  
Yuan Xing ◽  
Ke Liang ◽  
Shuxin Wang
Keyword(s):  
Minimally Invasive ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Point Of View ◽  
Surgical Robot ◽  
Main Body ◽  
Minimally Invasive Surgical ◽  
Surgical Tool ◽  
Movable Platform ◽  
Robotic Wrist

To deliver more value to the healthcare industry, a specialized surgical robot is needed in the minimally invasive surgery (MIS) field. To fill this need, a compact hybrid robotic wrist with four degrees of freedom (DOFs) is developed for assisting physicians to perform MIS. The main body of the wrist is a 2DOF parallel mechanism with a remote center-of-motion (RCM), which is located outside the mechanism. From the mechanical point of view, it is different from existing 2DOF spherical mechanisms, since there is no physical constraint on the RCM. Other DOFs of the wrist are realized by a revolute joint and a prismatic joint, which are serially mounted on the movable platform of the parallel mechanism. The function of these DOFs is to realize the roll motion and the in-out translation of the surgical tool. Special attention is paid to the parallel RCM mechanism. The detailed design is provided and the kinematic equations are obtained in the paper. Further, the Jacobian matrix is derived based on the kinematic equations. Finally, the paper examines the singularity configurations and implements the condition number analysis to identify the kinematic performance of the mechanism.

Sign in / Sign up

Export Citation Format

Share Document