Biomechtronic Design of a Supernumerary Robotic Limbs for Industrial Assembly

摘要

We present a new wearable robot that can help users by hand-held objects, weight lifting, and simplified tasks. The composition of the supernumerary robotic limbs includes two additional robot arms and an installation backplane that is easy for the wearer to wear. If SRL works closely with the user and acts more human-like, they can be seen as a part of human's body. Finally, humans will be able to expand existing operations and upgrade their skills, carry out tasks more effectively. This paper summarizes a basic design concept of SRL, establishes the kinematics model and dynamic model of the SRL. The adaptive neural network control method for SRL are described, aimed to track the trajectory.