Wrist Motion Analysis Using SMA Actuation

This paper presents an alternative method of angular
twist for a forearm wrist joint. Using Shape Memory Alloys
(SMA) as actuators to power the movement of the wrist
Pronation/ Supination motion was studied. The feasibility of
using a single and a fixed size of SMA wires were simulated in a laboratory experiment. The appropriate aluminium profile to retain energy was theoretically calculated and chosen .At the end of this study a prototype of a wrist joint was designed with chosen SMA wire to generate the wrist motion, force and angular rotation.