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Volume 8 Issue 5
May  2021

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2021  >  8(5): 929-952
Y. C. Tong, J. G. Liu, "Review of Research and Development of Supernumerary Robotic Limbs," IEEE/CAA J. Autom. Sinica, vol. 8, no. 5, pp. 929-952, May. 2021. doi: 10.1109/JAS.2021.1003961
Citation: Y. C. Tong, J. G. Liu, "Review of Research and Development of Supernumerary Robotic Limbs," IEEE/CAA J. Autom. Sinica, vol. 8, no. 5, pp. 929-952, May. 2021. doi: 10.1109/JAS.2021.1003961
shu

Review of Research and Development of Supernumerary Robotic Limbs

doi: 10.1109/JAS.2021.1003961
  • 1.

    State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China

  • 2.

    Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China

  • 3.

    University of Chinese Academy of Sciences, Beijing 100049, China

Funds:  This work was supported in part by the National Key R&D Program of China (2018YFB1304600), the Natural Science Foundation of China (51775541), CAS Interdisciplinary Innovation Team (JCTD-2018-11)
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    Abstract
  • Supernumerary robotic limbs (SRLs) are a new type of wearable human auxiliary equipment, which is currently a hot research topic in the world. SRLs have broad applications in many fields, and will provide a reference and technical support for the realization of human-robot collaboration and integration, while playing an important role in improving social security and public services. In this paper, representative SRLs are summarized from the aspects of related literature analysis, research status, ontology structure design, control and driving, sensing and perception, and application fields. This paper also analyzes and summarizes the current technical challenges faced by SRLs, and reviews development progress and key technologies, thus giving a prospect of future technical development trends.

     

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    Highlights

    • SRLs are discussed from literature analysis, research status and ontology structure.
    • Control and drive, sensing and perception, and application of SRLs are introduced.
    • Current technical challenges faced by SRLs are analyzed and summarized.
    • Development progress and key technologies of SRLs are reviewed.
    • This paper gives a prospect of technical development trends of SRLs.

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