Reconfiguration of supernumerary robotic limbs for human augmentation

TL;DR

This paper introduces a reconfigurable supernumerary robotic limb framework that uses quantitative analysis of human augmentation to enhance adaptability in diverse, unstructured environments.

Contribution

It presents a novel framework for reconfigurable SRLs based on human augmentation metrics, enabling systematic adaptation for various tasks.

Findings

Quantitative augmentation analysis guides SRL reconfiguration and control.

Experiments validate the effectiveness of origami-inspired modular SRLs.

Reconfigurable SRLs improve adaptability for everyday human augmentation.

Abstract

Wearable robots aim to seamlessly adapt to humans and their environment with personalized interactions. Existing supernumerary robotic limbs (SRLs), which enhance the physical capabilities of humans with additional extremities, have thus far been developed primarily for task-specific applications in structured industrial settings, limiting their adaptability to dynamic and unstructured environments. Here, we introduce a novel reconfigurable SRL framework grounded in a quantitative analysis of human augmentation to guide the development of more adaptable SRLs for diverse scenarios. This framework captures how SRL configuration shapes workspace extension and human-robot collaboration. We define human augmentation ratios to evaluate collaborative, visible extended, and non-visible extended workspaces, enabling systematic selection of SRL placement, morphology, and autonomy for a given task. Using these metrics, we demonstrate how quantitative augmentation analysis can guide the reconfiguration and control of SRLs to better match task requirements. We validate the proposed approach through experiments with a reconfigurable SRL composed of origami-inspired modular elements. Our results suggest that reconfigurable SRLs, informed by quantitative human augmentation analysis, offer a new perspective for providing adaptable human augmentation and assistance in everyday environments.