I'm planning the design of a wrist for a humanoid robot. I would like to choose a design that is sturdy while allowing for dexterity comparable to a human wrist.
One option that was presented to me was to use a Stewart platform. This setup appears to correctly recreate all possible movements of the human hand. My immediate concern is that this platform will use a total of six actuators which will require additional power and computational requirements. I don't want to commit to this design until I am certain that there isn't a better alternative.
Is a Stewart platform a good choice for replicating the dexterousness of the human wrist? If not, what is a better solution?