A structurally decoupled mechanism for measuring wrist torque in three degrees of freedom

Lizhi Pan, Zhen Yang, Dingguo Zhang

Research output: Contribution to journalReview articlepeer-review

4 Citations (SciVal)


The wrist joint is a critical part of the human body for movement. Measuring the torque of the wrist with three degrees of freedom (DOFs) is important in some fields, including rehabilitation, biomechanics, ergonomics, and human-machine interfacing. However, the particular structure of the wrist joint makes it difficult to measure the torque in all three directions simultaneously. This work develops a structurally decoupled instrument for measuring and improving the measurement accuracy of 3-DOF wrist torque during isometric contraction. Three single-axis torque sensors were embedded in a customized mechanical structure. The dimensions and components of the instrument were designed based on requirement of manufacturability. A prototype of the instrument was machined, assembled, integrated, and tested. The results show that the structurally decoupled mechanism is feasible for acquiring wrist torque data in three directions either independently or simultaneously. As a case study, we use the device to measure wrist torques concurrently with electromyography signal acquisition in preparation for simultaneous and proportional myoelectric control of prostheses.

Original languageEnglish
Article number104301
JournalReview of Scientific Instruments
Issue number10
Publication statusPublished - 1 Oct 2015

ASJC Scopus subject areas

  • Instrumentation


Dive into the research topics of 'A structurally decoupled mechanism for measuring wrist torque in three degrees of freedom'. Together they form a unique fingerprint.

Cite this