Gimbal Device

This repository contains the design files and assembly details for the Gimbal apparatus used in our recent publication. The device was developed to study human wrist rotations in both kinematics and dynamics experiments.

📂 Repository Contents

• BoM.xlsx
  Bill of Materials (BoM) listing the off-the-shelf components used. These are the exact parts I sourced (U.S.-based suppliers), but they are not the only options—equivalent components may be substituted.

• .sldprt files
  Individual SolidWorks part files for each component.

• .sldasm file
  Complete SolidWorks assembly file for the gimbal system.

• .stl files
  Components for 3D printing. I printed them on a Bambu FDM printer with PLA filament.

  • Recommended infill: 60–75% for structural strength.
  • Settings may be tuned depending on intended use.

⚠️ Notes & Limitations

• The current design is functional but not perfect.
• The handle–fork connection is the weakest point and has been the main failure site in testing.
• The apparatus performs reliably in pushing tasks (as demonstrated in the paper).
• It is not recommended for pulling tasks, as the handle–fork connection is likely to fail under tensile loads.

🔧 Future Improvements

• Reinforcement or redesign of the handle–fork interface.
• Optimization of the printed components for higher fatigue resistance.

🌍 Applications

This gimbal system may be useful for researchers interested in:

• Studying human wrist rotations.
• Designing experiments involving joint kinematics or interaction dynamics.
• Exploring applications in rehabilitation robotics and biomechanics.

🤝 Contributions

Feel free to edit, improve, or update any part of the design. Contributions and forks are welcome to refine the apparatus for broader use.

📖 Citation

If you use this design in your work, please cite the associated publication: