Faculty Advisor

Fichera, Loris


The goal of this project is to define and validate a process to fabricate flexure-based joints using tubular nitinol structures and an internal nitinol tendon. This will be subsequently referred to as a nitinol flexure wrist. The material is selectively removed from the body of a nitinol tube in order to create a compliant region which can then be made to bend by pulling a single internal wire attached to the distal end of the tube. This actuation mechanism can be realized in tubes of very small diameter and is therefore well suited to providing bending movement in needle-sized instruments for minimally-invasive medical procedures. In this report, a method for fabricating flexure wrists under 2mm in diameter is discussed.


Worcester Polytechnic Institute

Date Accepted

August 2018


Robotics Engineering

Project Type

Major Qualifying Project



Advisor Department

Computer Science