Forearm structure with a wire mechanism for fixation and rotational freedom of the radius and ulna

Robotic Forearm Structure Implementing Radioulnar Rotation

This technology relates to a forearm structure featuring a wire mechanism for implementing and securing the rotational degrees of freedom of the radioulnar structure, simulating the pronation and supination movements of the human forearm in robotic applications.

Conventional robotic prosthetic hands are often heavier than actual arms, have limited degrees of freedom, and differ from the human body in both appearance and movement, making it difficult to achieve natural motion.

By using wires to implement and secure the intersecting rotational structure of the radius and ulna, this technology simultaneously ensures both rotational freedom and load-bearing capacity.

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Key Features:

• A first reference joint serving as the base for the forearm structure, and a plurality of forearm segments with one end connected to the other side.
• A second reference joint connected to the other ends of the plurality of forearm segments, serving as the reference for forearm rotation.
• Fixing wires that secure the plurality of forearm segments to constrain displacement in directions other than the forearm's rotational degrees of freedom.
• An intersecting configuration of a first forearm segment connected to the second rotation axis of the second reference joint and a second forearm segment connected to the first rotation axis of the first reference joint.

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