Supernumerary Robotic Limbs for Human Body Support
A robot attached to a human body can support the human when performing tasks in dangerous environments or when taking postures that are fatiguing and uncomfortable. This paper presents a new type of supernumerary robotic limbs (SRL) that supports the human body against floors, walls, and surrounding...
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| Veröffentlicht in: | IEEE transactions on robotics 2016-04, Vol.32 (2), p.301-311 |
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| container_title | IEEE transactions on robotics |
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| creator | Parietti, Federico Asada, Harry |
| description | A robot attached to a human body can support the human when performing tasks in dangerous environments or when taking postures that are fatiguing and uncomfortable. This paper presents a new type of supernumerary robotic limbs (SRL) that supports the human body against floors, walls, and surrounding structures so that the human can perform a task safely, comfortably, and stably. First, the use 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 can brace the human body by making contact with a wall, grasping a rail, or being anchored to the floor. Quasi-static stability and compliance with which the body is supported are analyzed. Two control methods for stabilizing the body support system are considered: one is null-space stabilization using Hessian matrices, and the other is joint servo stiffness, based on the Jacobian. A prototype robot is designed and tested. Potential applications of the SRL in diverse fields are discussed. |
| doi_str_mv | 10.1109/TRO.2016.2520486 |
| format | Article |
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This paper presents a new type of supernumerary robotic limbs (SRL) that supports the human body against floors, walls, and surrounding structures so that the human can perform a task safely, comfortably, and stably. First, the use 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 can brace the human body by making contact with a wall, grasping a rail, or being anchored to the floor. Quasi-static stability and compliance with which the body is supported are analyzed. Two control methods for stabilizing the body support system are considered: one is null-space stabilization using Hessian matrices, and the other is joint servo stiffness, based on the Jacobian. A prototype robot is designed and tested. 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Potential applications of the SRL in diverse fields are discussed.</description><subject>Compliance</subject><subject>Exoskeletons</subject><subject>Grasping</subject><subject>Human body</subject><subject>Human performance</subject><subject>Human support</subject><subject>Limbs</subject><subject>Rails</subject><subject>Robot kinematics</subject><subject>Robotics</subject><subject>Robots</subject><subject>Safety</subject><subject>Stability analysis</subject><subject>stiffness control</subject><subject>Tasks</subject><subject>Walls</subject><subject>wearable extra limbs</subject><issn>1552-3098</issn><issn>1941-0468</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2016</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkE1LAzEQhoMoWKt3wcuCFy9bZ_Kxmxy1qBUKhVrPIdlmYUt3sya7h_57U1o8eJoZeN5h5iHkHmGGCOp5s17NKGAxo4ICl8UFmaDimAMv5GXqhaA5AyWvyU2MOwDKFbAJoV9j70I3ti6YcMjW3vqhqbJl09qY1T5ki7E1Xfbqt4csob0Pwy25qs0-urtznZLv97fNfJEvVx-f85dlXjHFh9zWgMqgkEi3QoFRnFEwBeUoSmeFlZVBZiQyV1eFtRUwamu7LZ3CGmkap-TptLcP_md0cdBtEyu335vO-TFqlCiULAFZQh__oTs_hi5dp7GUZSkoZTxRcKKq4GMMrtZ9aNr0tkbQR4k6SdRHifosMUUeTpHGOfeHlxwBioL9AsnJa5A</recordid><startdate>20160401</startdate><enddate>20160401</enddate><creator>Parietti, Federico</creator><creator>Asada, Harry</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| source | IEEE Electronic Library (IEL) |
| subjects | Compliance Exoskeletons Grasping Human body Human performance Human support Limbs Rails Robot kinematics Robotics Robots Safety Stability analysis stiffness control Tasks Walls wearable extra limbs |
| title | Supernumerary Robotic Limbs for Human Body Support |
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