Fig. 5
From: CyberLimb: a novel robotic prosthesis concept with shared and intuitive control
Tendon routing and tensioning. A Side section view of the prosthesis showing two vertical holes for gripper tendons. The tendons continue through the central wrist shaft and wrist connection that has a large chamfer to prevent collisions with the tendons at extreme wrist angles. The tendons continue through the wrist joint to wrap around the distal gripper pulley and are fixed to the tensioning screw. B Axial section view showing the two vertical holes directly next to the IMU PCB through which the gripper tendons pass through. The wrist tendons go directly through the large hole in the body wall and wrap around the distal wrist pulley shown. C The wrist tendons are wrapped around the pulley and fixed with bolts adjacent to the pulley. These bolts are used for tensioning the wrist tendons. D Close-up view of the tensioning screws that tighten the gripper tendons. The gripper tendons wrap around the gripper pulley and feed into the shaft of the worm screw. As the guitar knob is rotated, it drives the worm screw to tighten the gripper tendons