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A robotic lower arm assembly includes a forearm member, a hand member including a plurality of appendage members, a plurality of control cables coupled with the forearm member at first ends thereof and coupled with the plurality of appendage members at second ends thereof, a control cable of the plurality of control cables configured to apply a force to an appendage member of the plurality of appendage members to actuate the appendage member, and a wrist joint pivotably coupled with the forearm member and the hand member. The plurality of control cables is arranged in a first configuration at a forearm side of the wrist joint and is arranged in a second configuration different from the first configuration at a hand side of the wrist joint opposite the forearm side.

一种机器人下臂组件，包含：
• 前臂部件（forearm member）
• 手部部件（hand member），包括多个附肢部件（手指）
• 多根控制绳索（control cables），其第一端耦合于前臂部件，第二端耦合于附肢部件。其中一根绳索用于向一个附肢施力以驱动该附肢运动。
• 腕关节（wrist joint），与前臂和手部通过可枢转方式耦合。

核心创新点：多根控制绳索在腕关节前臂侧采用第一种布置，在手部侧（腕关节的相反一侧）采用与第一种不同的第二种布置。这一过渡结构（transition）是腕部灵活性的核心。