Faculty Advisor

Popovic, Marko B.

Faculty Advisor

Bitar, Stephen John

Faculty Advisor

Li, Zhi

Abstract

The overall goal of this project was to create a practical prosthetic wrist and gripper. The motivations behind this project were to further develop the applications of the HydroMuscle and highlight opportunities for improvement within the field of commercial transradial prosthetics by designing a prosthetic device with compliant motion actuated by HydroMuscles. This project consisted of the design of a wrist joint with two rotational degrees of freedom, a gripper with HydroMuscle actuated fingers capable of basic grasping tasks, a compact pump actuation system to convert rotational movement from a small motor to linear expansion of a HydroMuscle, and the development of controls and feedback to control the actuation.

Publisher

Worcester Polytechnic Institute

Date Accepted

2020-05-17

Major

Mechanical Engineering

Major

Electrical and Computer Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Physics

Advisor Department

Electrical and Computer Engineering

Advisor Department

Mechanical Engineering

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