The human wrist joint is unique from functional and anatomic standpoints. Numerous articulations exist within the wrist that allow for many options for partial wrist fusion and arthroplasty. In cases of pancarpal disease, fusion or arthroplasty of the entire wrist joint can be performed. Because of the high functional demand of the wrist, many of these surgical options can fail, leading to deva...

The double universal joint robot wrist can eliminate singularities which limit the performance of existing industrial robot wrists. Unfortunately, this singularity-free wrist has an offset which prevents decoupling of the position and orientation in the manipulator inverse kinematics problem. Closed-form solutions are difficult, if not impossible, to find. This paper solves the inverse position...

Because wrist rotation dynamics are dominated by stiffness (Charles SK, Hogan N. J Biomech 44: 614-621, 2011), understanding how humans plan and execute coordinated wrist rotations requires knowledge of the stiffness characteristics of the wrist joint. In the past, the passive stiffness of the wrist joint has been measured in 1 degree of freedom (DOF). Although these 1-DOF measurements inform u...

Disorders of the pisotriquetral joint are well recognised as the cause of pain on the ulnar side of the wrist. The joint is not usually examined during routine arthroscopy because it is assumed to have a separate joint cavity to the radiocarpal joint, although there is often a connection between the two. We explored this connection during arthroscopy and in fresh-frozen cadaver wrists and found...

A closed-loop FES system for surface electrode stimulation was developed using an electromagnetic 3-D position and orientation sensor to measure joint angles. Our previous goniometer-based closed-loop FES system was found to be effective through controlling wrist joint movements of neurologically intact subjects. However, the previous system could not measure angles of the forearm pronation/sup...