Design and Control of a Prosthetic Wrist Mechanism

Abstract Amputees, whether due to congenital conditions, accidents, or health issues, encounter the daily challenge of navigating life with heightened difficulty in performing essential tasks compared to the general population. While technology has made significant strides in addressing this challenge, there remains a noticeable gap in the availability of high functioning prosthetics for individuals with limited financial resources. Specifically, in the realm of upper extremities, such as the hand and forearm, the need for precise fine motor control adds a layer of complexity to the design considerations for restoring meaningful functionality to patients. Prosthetic options, such as body-powered and electromyography devices, present diverse choices for patients. While body-powered prosthetics rely on cable systems activated by body movements, electromyography prosthetics harness electrical muscle activation for precise control. This paper delves into the intricate design process of an advanced prosthetic arm, with a focus in replicating the pronation and supination of the wrist and forearm. In exploring the intricate problems associated with upper extremity amputations, this studies’ attention centers on Trans-radial amputations, among the most prevalent and complicated cases. The classification system outlines three levels: Hand, Partial Hand and Digits; Trans-radial and Wrist Disarticulation; and Trans-humeral, Elbow Disarticulation, and Shoulder Disarticulation. This research and design aims to restore functionality to Trans-radial amputees, recognizing the pivotal role hand and wrist movements play in daily activities.