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Bowden Cable Based Powered Ball and Socket Wrist Actuator

Authors: Samee Ahmad, Adnan Masood, Umar S. Khan


A 2-Degrees of freedom powered prosthetic wrist actuator has been proposed that can provide the Abduction/Adduction & Flexion/Extension movements of the human wrist. The basic structure of the actuator is a Ball and Socket joint and the force is transmitted from the DC geared servo motors to the joint through the Bowden cables. The proposed design is capable of providing the required DOF in both axes i.e. 85° & 90° in flexion extension axis. The size and weight of the actuator lies within the ranges of an average human being-s wrist.

Keywords: Prosthetic, Actuator, Ball & Socket, Bowden Cable, Wrist

Digital Object Identifier (DOI):

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