Survey and Development Trend of Supernumerary Robotic Limbs

Qi Fei; Zhang Heng; Bai Dongming; Dou Xiaoming; Zhu Jing; Pei Haishan; Jiang Jiawei

doi:10.16578/j.issn.1004.2539.2023.11.024

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Survey and Development Trend of Supernumerary Robotic Limbs

Review | 更新时间：2023-12-01

- Survey and Development Trend of Supernumerary Robotic Limbs
- Journal of Mechanical Transmission Vol. 47, Issue 11, Pages: 161-167(2023)
- 作者机构：
  
  1.常州大学机械与轨道交通学院，江苏常州 213164
  2.金华职业技术学院浙江省农作物收获装备技术重点实验室，浙江金华 321016
  3.快克智能装备股份有限公司，江苏常州 213167
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.11.024
  CLC：
- Published：15 November 2023，
  
  Received：03 September 2022，
  
  Revised：19 September 2022，
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齐飞,张恒,白东明等.外肢体机器人研究综述及发展趋势[J].机械传动,2023,47(11):161-167.

Qi Fei,Zhang Heng,Bai Dongming,et al.Survey and Development Trend of Supernumerary Robotic Limbs[J].Journal of Mechanical Transmission,2023,47(11):161-167.
齐飞,张恒,白东明等.外肢体机器人研究综述及发展趋势[J].机械传动,2023,47(11):161-167. DOI： 10.16578/j.issn.1004.2539.2023.11.024.

Qi Fei,Zhang Heng,Bai Dongming,et al.Survey and Development Trend of Supernumerary Robotic Limbs[J].Journal of Mechanical Transmission,2023,47(11):161-167. DOI： 10.16578/j.issn.1004.2539.2023.11.024.

摘要

外肢体机器人由于其独特的穿戴舒适性、运动灵活性和人机协作性，在医疗康复、航空航天、工业生产及建筑装修等领域具有广阔的应用前景。阐述了外肢体机器人的国内外研究现状和发展动态，分别从外肢体系统结构、运动建模、人机信息交互与协调控制三个方面进行综述。分析了刚性外肢体与柔性外肢体结构的优势与不足，阐明了外肢体运动建模过程中的核心和关键，揭示了人机交互与最优协作控制的技术挑战。最后总结了外肢体机器人的研究要点，并对其未来发展方向和趋势进行了展望。

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.

关键词

外肢体穿戴机器人人机协作运动建模辅助作业

Keywords

Supernumerary robotic limbWearable robotHuman-machine cooperationMotion modelingAuxiliary operation

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