{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T16:04:21Z","timestamp":1788278661466,"version":"build-2803163510"},"reference-count":36,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2025,1,14]],"date-time":"2025-01-14T00:00:00Z","timestamp":1736812800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>Wrist movements play a crucial role in upper-limb motor tasks. As prosthetic and robotic hand technologies have evolved, increasing attention has been focused on replicating the anatomy and functionality of the wrist. Closely imitating the biomechanics and movement mechanisms of human limbs is expected to enhance the overall performance of bionic robotic hands. This study presents the design of a tendon-driven bionic spherical robot wrist, utilizing two pairs of cables that mimic antagonist muscle pairs. The cables are actuated by pulleys driven by servo motors, allowing for two primary wrist motions: flexion\u2013extension and ulnar\u2013radial deviation. The performance Please confirm if the \u201c1583 Iiyama\u201d is necessary. Same as belowof the proposed robot wrist is validated through manipulation experiments using a prototype, demonstrating its capability to achieve a full range of motion for both ulnar and radial deviation. This wrist mechanism is expected to be integrated into robotic systems, enabling greater flexibility and more human-like movement capabilities.<\/jats:p>","DOI":"10.3390\/biomimetics10010052","type":"journal-article","created":{"date-parts":[[2025,1,14]],"date-time":"2025-01-14T11:28:31Z","timestamp":1736854111000},"page":"52","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Development of a Cable-Driven Bionic Spherical Joint for a Robot Wrist"],"prefix":"10.3390","volume":"10","author":[{"given":"Zixun","family":"He","sequence":"first","affiliation":[{"name":"Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yutaka","family":"Ito","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shotaro","family":"Saito","sequence":"additional","affiliation":[{"name":"Graduate School of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sakura","family":"Narumi","sequence":"additional","affiliation":[{"name":"Graduate School of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yousun","family":"Kang","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8454-0319","authenticated-orcid":false,"given":"Duk","family":"Shin","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Kanagawa, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,1,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1590","DOI":"10.1109\/ACCESS.2020.3045792","article-title":"Robots Under COVID-19 Pandemic: A Comprehensive Survey","volume":"9","author":"Shen","year":"2020","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Gonzalez-Aguirre, J.A., Osorio-Oliveros, R., Rodr\u00edguez-Hern\u00e1ndez, K.L., Liz\u00e1rraga-Iturralde, J., Menendez, R.M., Ram\u00edrez-Mendoza, R.A., Ram\u00edrez-Moreno, M.A., and Lozoya-Santos, J.d.J. 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