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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2021, Vol. 55 Issue (2): 251-258    DOI: 10.3785/j.issn.1008-973X.2021.02.005
    
A survey of supernumerary robotic limbs
De-bin LIU1(),Dan WANG1,2,*(),Bai CHEN1,Yao-yao WANG1,2,Li-yao SONG1
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
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Abstract  

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.

Key words： supernumerary robotic limbs      robotic-human-environment interaction and cooperation      auxiliary operation      auxiliary support     
Received: 11 May 2020      Published: 09 March 2021
CLC:  TH 39  
Fund:  国家自然科学基金资助项目（51705243）；流体动力与机电系统国家重点实验室开放基金资助项目（GZKF-201917）；江苏省自然科学基金资助项目（BK20170789）；南京航空航天大学基本科研业务费-青年科技创新基金资助项目（NT2020010）
Corresponding Authors: Dan WANG     E-mail: nuaaldb@nuaa.edu.cn;wangdan_053@nuaa.edu.cn
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De-bin LIU
Dan WANG
Bai CHEN
Yao-yao WANG
Li-yao SONG
Cite this article:

De-bin LIU,Dan WANG,Bai CHEN,Yao-yao WANG,Li-yao SONG. A survey of supernumerary robotic limbs. Journal of ZheJiang University (Engineering Science), 2021, 55(2): 251-258.

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http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2021.02.005     OR     http://www.zjujournals.com/eng/Y2021/V55/I2/251


外肢体机器人研究综述

阐述外肢体机器人（SRLs）的研究背景和研究意义. 介绍外肢体机器人的概念，将外肢体机器人按照功能分为辅助操作外肢体与辅助支撑外肢体. 针对不同结构类型与结构柔性的2类外肢体机器人总结研究现状. 就外肢体机器人人机一体化特性带来的结构轻量化、安全性、人机协作、抗干扰能力四方面对外肢体机器人的研究要点进行分析. 对外肢体机器人未来的发展趋势进行总结与展望.


关键词： 外肢体机器人,  人机协作,  辅助操作,  辅助支撑 
Fig.1 Schematic diagram of supernumerary robotic limbs for auxiliary operation
Fig.2 Schematic diagram of supernumerary robotic limbs for auxiliary support
Fig.3 Supernumerary robotic limbs for overhead space operation
Fig.4 Supernumerary robotic limbs for drilling operation in cabin
Fig.5 Supernumerary robotic limbs for interior wiring and assembly in cabin
Fig.6 Supernumerary robotic limbs for ceiling installation
Fig.7 Supernumerary robotic limbs named MetaLimbs
Fig.8 Supernumerary robotic limbs named Naviarm
Fig.9 3 DOF supernumerary robotic limbs based on hydraulic drive
Fig.10 Supernumerary robotic limbs mounted on elbow
Fig.11 Soft supernumerary robotic limbs named SPL
Fig.12 Soft supernumerary robotic limbs named fSPL
Fig.13 Inflatable flexible supernumerary robotic limbs
Fig.14 Snake shaped supernumerary robotic limbs named Orochi
Fig.15 Supernumerary robotic limbs for auxiliary support
Fig.16 Supernumerary robotic limbs controlled by electromyogram
Fig.17 Supernumerary robotic limbs named MantisBot
Fig.18 Supernumerary robotic limbs for daily life applications
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