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For the wire driven mechanism, the property of the wire affects its performance.
As we mentioned above, the wire driven mechanism is used for the Axis 2 and the Axis 3. Figure 9 shows the wire driven mechanism for the Axis 2.
Conventionally a stainless steel wire rope is commonly used for the wire driven mechanisms including TITAN-VIII [15].
Additionally the wire driven mechanism does not have backlash which is major problem in gear reduction mechanism.
For a lightweight and compact leg, the right-angle type wire driven mechanism is adopted to the robot.
In the case of the wire driven mechanism, strength of wire that transmits torque between pulleys, limits allowable torque.
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Therefore, we examined the elongation of the wire in right-angle type wired driven mechanism.
When a good reduction has been achieved it is temporarily stabilized with two 1.8 mm Kirschner wires driven into the radial styloid in a distal to proximal direction.
The Autonomy [3] and the FlexDex [4] adopted a flexible bending joint and wire drive mechanism [16, 17].
Haraguchi et al. [18] also proposed a flexible bending joint and wire drive mechanism using a spring for the joint.
The ulnar nerve is not at risk, unless the proximally inserted wire is driven through the medial condyle.
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