WRIST JOINT MOTION SIMULATOR

A computer controlled wrist joint motion simulator has been developed that actively moves forearms from cadavers through cyclic planar flexi on-extension motions, planar radial-ulnar deviation motions, and combi ned motions such as circumduction, Hybrid position-force feedback cont rol algorithms are used to determine the wrist flexor and extensor ten don forces necessary to achieve the desired motions. The simulator was used in a series of 12 fresh cadaver forearms to produce both flexion -extension and radial-ulnar deviation motions and was found to cause r epeatable, physiological movements. In these experiments, the extensor tendon forces were greater than those of the flexors, typically by a factor of two.