Kinematic design of a humanoid robot wrist

Abstract

Abstract In this paper, a new kinematic model of the human wrist is developed and compared to existing robot wrists. A detailed analysis of the motion of the involved carpus bones indicates the position and orientation of the motion axes. Approximations are made to approach a technical feasible model, on the one hand, but to preserve functional characteristics on the other hand. For the mathematical description, screw theory and the product‐of‐exponentials method are applied. Characteristic parameters of the model are identified and quantitative values for a typical person proposed. Finally, similarities between existing robot wrists and the model are discussed. © 2001 John Wiley & Sons, Inc.