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We present a novel testing platform designed to characterize the mechanical performance of a flexible prosthetic wrist based on handed-shearing auxetic (HSA) structures. The platform is modular and supports both passive loading tests and active drive tests. An inertial measurement unit (IMU) and an integrated load cell are used to record the wrist’s motion trajectory and the applied force under controlled conditions. We describe the system design, including a configurable base, interchangeable drive modules, and the control architecture. Experimental results demonstrate the platform’s stability under significant loads (up to \(\sim \) 23 N) and reveal a near-linear force–displacement relationship, indicating both robust performance and the feasibility of compensating for platform compliance.

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Design of a Multi-modal Testing Platform for HSA-Based Flexible Prosthetic Wrists

  • 会议论文

  • 发表日期：

    2026年

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  • Xiaoqian Zhang,
  • Mario Baggetta,
  • Cristina Piazza,
  • Giovanni Berselli

摘要

We present a novel testing platform designed to characterize the mechanical performance of a flexible prosthetic wrist based on handed-shearing auxetic (HSA) structures. The platform is modular and supports both passive loading tests and active drive tests. An inertial measurement unit (IMU) and an integrated load cell are used to record the wrist’s motion trajectory and the applied force under controlled conditions. We describe the system design, including a configurable base, interchangeable drive modules, and the control architecture. Experimental results demonstrate the platform’s stability under significant loads (up to \(\sim \) 23 N) and reveal a near-linear force–displacement relationship, indicating both robust performance and the feasibility of compensating for platform compliance.