Supernumerary Robotic Limbs for Human Body Support


A robot connected to an individual's body will support the human when performing tasks in dangerous environments or when taking postures that are fatiguing and uncomfortable. This paper presents a brand new type of supernumerary robotic limbs (SRL) that supports the human body against floors, walls, and surrounding structures therefore that the human will perform a task safely, comfortably, and stably. Initial, the utilization of wearable robots for securing and supporting a human body is discussed, followed by an SRL design concept. The SRL is worn around the waist and will brace the human body by creating contact with a wall, grasping a rail, or being anchored to the ground. Quasi-static stability and compliance with that the body is supported are analyzed. 2 control ways for stabilizing the body support system are thought of: one is null-space stabilization using Hessian matrices, and the opposite is joint servo stiffness, based mostly on the Jacobian. A prototype robot is meant and tested. Potential applications of the SRL in diverse fields are discussed.

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