Survey and Development Trend of Supernumerary Robotic Limbs

Abstract

Due to its unique wearing comfort, operational flexibility and human-machine cooperation, the supernumerary robotic limb has a wide range of applications, such as medical rehabilitation, the aerospace, industrial production and building decoration, etc. This study analyzes the research status and development trend of supernumerary robotic limb at home and abroad, and reviews the design of the external limb structure, motion modeling, human-machine information interaction and coordination control. Meanwhile, the advantages and disadvantages of rigid external limb and flexible external limb are analyzed, the core and key of the motion modeling of the external limb are illustrated, and the technical challenges of human-machine interaction and optimal cooperative control are revealed. Finally, the main research points of the supernumerary robotic limb are summarized, and its future development direction and trend are prospected.

Keywords

• Supernumerary robotic limb;Wearable robot;Human-machine cooperation;Motion modeling;Auxiliary operation