LIU De-bin,, WANG Dan,, CHEN Bai, WANG Yao-yao, SONG Li-yao
1. National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
Firstly, the research background and the significance of supernumerary robotic limbs (SRLs) were introduced. Secondly, the concept of SRLs was provided, and SRLs were divided into two parts, i.e., auxiliary operation SRLs and auxiliary support SRLs, according to their functions. Thirdly, the current research status and progress for different structure types and structural flexibility SRLs were outlined. Besides, the main research points about man-machine integration for the SRLs were analyzed in terms of lightweight design and security, robotic-human-environment interaction and cooperation and anti-interference capability. Finally, the prospect of the SRLs was summarized.
Keywords：supernumerary robotic limbs
;
robotic-human-environment interaction and cooperation
;
auxiliary operation
;
auxiliary support
LIU De-bin, WANG Dan, CHEN Bai, WANG Yao-yao, SONG Li-yao. A survey of supernumerary robotic limbs. Journal of Zhejiang University(Engineering Science)[J], 2021, 55(2): 251-258 doi:10.3785/j.issn.1008-973X.2021.02.005
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