Wrist Torques Measurement Device


A device was needed to measure wrist torques. Since human joints do not have a single point of rotation, torque measurements are often confounded with linear forces that the joint is also supporting.


The device features free linear degrees of freedom and passive gravity compensation so that the torque measurements can follow the body's natural instantaneous center of rotation. Measurements are isometric, and the device has spring loaded setup pins for rapid positioning to specific measurement angles.