Abstract#R##N##R##N#In this paper, a new kinematic model of the human wrist is developed and compared to existing robot wrists. A detailed analysis of the motion of the involved carpus bones indicates the position and orientation of the motion axes. Approximations are made to approach a technical feasible model, on the one hand, but to preserve functional characteristics on the other hand. For the mathematical description, screw theory and the product-of-exponentials method are applied. Characteristic parameters of the model are identified and quantitative values for a typical person proposed. Finally, similarities between existing robot wrists and the model are discussed. © 2001 John Wiley & Sons, Inc.
['Christian Schäfer', 'Rüdiger Dillmann']
Kinematic design of a humanoid robot wrist