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Figure 1. Wrist actions. (a) Pronation and supination occur when both motors turn in same direction so that two sides of differential rotate in opposite directions. (b) Flexion and extension occur when two motors oppose each other across differential and torque is set up to flex joint.

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  1. Figure 1. Wrist actions. (a) Pronation and supination occur when both motors turn in same direction so that two sides of differential rotate in opposite directions. (b) Flexion and extension occur when two motors oppose each other across differential and torque is set up to flex joint. Kyberd PJ, Lemaire ED, Scheme E, MacPhail C, Goudreau L, Bush G , Brookeshaw M. Two-degree-of-freedom powered prosthetic wrist. J Rehabil Res Dev. 2011;48(6): 609-18.DOI:10.1682/JRRD.2010.07.0137

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