Design
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Controller Wrist
In designing the controller wrist, we had several design concepts. The difficulty with the wrist was that the human wrist is capable of two degrees of freedom at this on joint. Our two options were to either attempt to recreate one joint capable of two degrees of freedom, or to have two separate joints each with one degree of freedom. Sketches for our two design concepts are shown below.
Concept with one joint and two degrees of freedom (left) and concept with two joints with one degree of freedom each (right)
The two joint design was selected due to ease of sensing and ease of manufacture. For this joint, a soft-pot is used to measure wrist rotation while a potentiometer is used to measure wrist bending in the same fashion as elbow and shoulder bending were measured. The CAD model for this joint is shown below.
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