Underactuated wrist-forearm joint device capable of independent actuation for each degree of freedom and method for operating the same

Under-actuated Wrist-Forearm Joint Mechanism with Reduced Actuator Count

This technology relates to an under-actuated wrist-forearm joint mechanism and its driving method, capable of fully independent control of each degree of freedom, allowing for the independent control of three degrees of freedom with a minimal number of actuators.

Conventional robotic prosthetics require an actuator for every degree of freedom, leading to an increased number of actuators and higher overall weight, which results in greater user burden and increased power consumption.

By combining a wire-driven structure with an active joint section, this under-actuated design achieves independent control of approximately three degrees of freedom, reducing both the number of actuators and total weight while maintaining full functionality.

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Key Features:

• A first reference joint section that serves as the basis for a multi-degree-of-freedom joint mechanism designed for robotic applications.
• A kinetic joint section installed on one side of the first reference joint, capable of multi-axial rotation and featuring a semi-ellipsoidal or ellipsoidal shape.
• A plurality of forearm sections with one end connected to the other side of the first reference joint, and a second reference joint connected to the opposite ends.
• A forearm structure that implements rotational degrees of freedom similar to the radius and ulna by twisting relative to the second reference joint.

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This invention was developed with support from the Ministry of Science and ICT’s Phase 2 (3rd Stage) Bionic Wrist Design Technology Development project and the Human-Centered Soft Robot Research Center.