Research on Supernumerary Robotic Limbs with Relatively Independent Operation Ability

Abstract

AbstractThis paper analyzes and summarizes the principles, advantages, and disadvantages of the current operation methods of supernumerary robotic limbs. There is a phenomenon of visual area switching in the existing operation methods, which reduces the operation efficiency. In response to this problem, this paper proposes a new and efficient operation method for supernumerary robotic limbs and it is called a relatively independent operation method. First, the concept of the relatively independent operation is defined. Secondly, four core factors for realizing this method are analyzed, namely, environment perception, human state perception and intention recognition, autonomous decision-making and planning, and anti-base disturbance. Thirdly, the hardware composition of the supernumerary robotic limb system with four abilities is expounded, and the corresponding software architecture is proposed. The functions and logical relationships of various algorithm modules in the top, middle, and bottom layers of the software architecture are described in detail, and the core algorithm, the autonomous decision-making motion control algorithm, is further analyzed. Finally, a prototype of the supernumerary robotic limb body is introduced.KeywordsSupernumerary robotic limbsRelatively independent operationHuman-machine interactionWearable robotsHuman enhancement