Publication

Abstract : The human wrist enables skilfulness and manipulation and makes a significant contribution to the arm/hand system's mobility. Research in robotics and prosthetics focuses on end-effectors like hands and grippers over wrists. Wrists can improve manipulation by orienting the end effector of a system without causing significant translational motion. This paper provides a comprehensive analysis of wrist devices, including prostheses and actuated robotic devices. This study introduces a novel approach for prosthetic control using the Jacobian Inverse method (an inverse kinematics (IK) algorithm), helping in understanding the torques required for proper movement. Flex sensors are used for enhancing the movement accuracy. This algorithm demonstrated high accuracy, validated by hardware experiments. Experimental results demonstrate torque generation of up to 0.3 Nm with smooth control over dynamic oscillations, making it suitable for practical deployment. These insights provide a layout for future advanced implementations in prostheses technology in reducing its weight and increasing precision and accuracy for its smooth movement.