Instrumented compliant wrist for dexterous robotic interaction

The design, assembly and implementation of a custom fabricated instrumented wrist aimed at supporting dexterous robotic interaction with live proximity and contact feedback is presented in this paper. Although comparable platforms have been conceived in the past, efforts have been made to reduce the complexity of the overall system with a focus on weight and cost reduction and the addition of a proximity detection feature. Design considerations are explored and compared to similar existing compliant wrists. An experimental characterization of the prototype is reported in the context of an integrated vision-guided robotic system. An evaluation of other possible applications, namely for mobile robotics, is also presented.