Vlimb: A Wire-Driven Wearable Robot for Bodily Extension, Balancing Powerfulness and Reachability

TL;DR

Vlimb is a novel wire-driven wearable robot designed for bodily extension that balances powerfulness and reachability, enabling manipulation and lifting tasks comparable to human limbs.

Contribution

This paper introduces Vlimb, a wearable robot with a tendon-driven design and passive ring structure, achieving human-like power and reachability for bodily extension.

Findings

Vlimb successfully performs manipulation tasks.

Vlimb can lift objects comparable to human strength.

Design effectively balances power and reachability.

Abstract

Numerous wearable robots have been developed to meet the demands of physical assistance and entertainment. These wearable robots range from body-enhancing types that assist human arms and legs to body-extending types that have extra arms. This study focuses specifically on wearable robots of the latter category, aimed at bodily extension. However, they have not yet achieved the level of powerfulness and reachability equivalent to that of human limbs, limiting their application to entertainment and manipulation tasks involving lightweight objects. Therefore, in this study, we develop an body-extending wearable robot, Vlimb, which has enough powerfulness to lift a human and can perform manipulation. Leveraging the advantages of tendon-driven mechanisms, Vlimb incorporates a wire routing mechanism capable of accommodating both delicate manipulations and robust lifting tasks. Moreover, by introducing a passive ring structure to overcome the limited reachability inherent in tendon-driven mechanisms, Vlimb achieves both the powerfulness and reachability comparable to that of humans. This paper outlines the design methodology of Vlimb, conducts preliminary manipulation and lifting tasks, and verifies its effectiveness.