Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics

TL;DR

This paper introduces a hybrid augmented reality system that makes robotic manipulators appear worn without adding weight, potentially revolutionizing wearable assistive robotics by eliminating mechanical constraints.

Contribution

The paper presents a novel hybrid AR system that visually simulates wearable robotic arms, removing the weight and discomfort associated with physical devices.

Findings

Enables illusion of wearing robotic devices without physical burden

Reduces discomfort and weight constraints in wearable robotics

Opens new research avenues for assistive and industrial robotics

Abstract

Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial operators. Despite numerous mechanical achievements, embedding these robotics devices remains critical due to their weight and discomfort. To emancipate from these mechanical constraints, we propose a new hybrid system using a virtually worn robotic arm in augmented-reality, and a real robotic manipulator servoed on such virtual representation. We aim at bringing an illusion of wearing a robotic system while its weight is fully deported, thinking that this approach could open new horizons for the study of wearable robotics without any intrinsic impairment of the human movement abilities.