This was an early venture into a prosthetic/biomimetic robotic arm. A significant amount of effort went in to parameterizing the pronation/supination of the forearm as accurately as possible, including ensuring the range of motion could match that of a real arm. The joint designs were chosen to replicate the degrees of freedom present in those joints on a real arm. Pneumatic muscles made of bundles of latex tubing inside mesh sleeves would act as the skeletal muscles. Only the brachialis muscle was modeled for the assembly before the progress was stopped.

This was my first large project designed with the intent that parts would be printed. Progress on this project stopped because the print time for the proximal end of the ulna was deemed too long at the time. I intend to resume this project in the future because the print time is no longer a barrier for me.