Introduction

Robotic joint for wrist prosthetic joint for active prone-supination, essential for determining the orientation of the robotic hand prosthesis in space, and passive flexo-extension, important for performing different daily life activities. The flexo-extension module uses two Scoth-Yoke mechanisms in parallel in order to transform rotary motion into translation to compress a linear compression spring pack. The elasticity of the spring pack guarantees the elastic return of the joint to the rest position.

Technical features

The present invention proposes an innovative prosthetic wrist with two degrees of freedom that actively implements prono-supination and passively and adaptively implements the flexo-extension of a robotic hand prosthesis. The wrist modules currently on the market that have the dual mode of operation are sold only in integrated solutions with the hand. The wrist system, presented here, aims instead to be used as a stand-alone module, which can be integrated with different hand prostheses, modular and highly customizable according to the needs of use as the characteristics of joint elasticity can be modified by properly choosing the characteristics of stiffness of the spring pack. And it is precisely in the flexo-extension module that the patent idea can be found, since the presence of two Scoth-Yoke mechanisms placed in parallel is exploited in order to transform the rotary motion into translation to compress a linear compression spring pack. The elasticity of the spring pack guarantees the elastic return of the module to the rest position when the load is suppressed. The springs are pre-compressed to ensure that the horizontal position of the hand is maintained (the main axes of the hand and the socket are aligned). The joint is equipped with a locking system to ensure the use of the module even in rigid mode.

Possible Applications

• Prosthetics;
• Biorobotics;
• Automation and industrial robotics;
• Service robotics;
• Rescue robotics or even for exploration.

Advantages

• Reduced weight and dimensions;
• Reliability;
• Robustness;
• Low costs;
• Anthropomorphism;
• Modularity.