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.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Reid, H Mitchell
• Masse, Abraham M.
• Shaffer, Zachary
• Field, Connor J.
• Barber, David T.

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-051720-163705

Advisor

• Bitar, Stephen John
• Popovic, Marko B.
• Li, Zhi

Year

• 2020

Center

• Worcester, Massachusetts Community Project Center - MQP

Date created

• 2020-05-17

Resource type

• Major Qualifying Project

Major

• Mechanical Engineering
• Electrical & Computer Engineering

Rights statement

• In Copyright