HandMECH—Mechanical hand prosthesis: Conceptual design of a two degrees-of-freedom compliant wrist

Abstract

A compliant wrist joint is important for positioning the hand in different positions to perform various daily tasks. It is also important that the wrist is able to achieve sufficient range of motion (RoM). The RoM is determined by classifying the daily activities and the most critical applications. This study presents kinematical, structural and kinetic analyses of the conceptual design of a wrist joint in mechanical hand prosthesis: HandMECH. Kinematic and kinetic analyses are carried out to determine the design parameters of the wrist to handle daily activities. Structural analyses is performed to evaluate the stress distributed over the critical part of the wrist and show that the design with a mass of 50 g satisfies the applied boundary condition.