Review of Research and Development of Supernumerary Robotic Limbs  

作　　者：Yuchuang Tong Jinguo Liu 

机构地区：[1]the State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 [2]the Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016 [3]the University of Chinese Academy of Sciences,Beijing 100049,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2021年第5期929-952,共24页自动化学报（英文版）

基　　金：supported in part by theNational Key R&D Program of China (2018YFB1304600);the Natural Science Foundation of China (51775541);CAS Interdisciplinary Innovation Team (JCTD-2018-11)。

摘　　要：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.

关 键 词：Human-robot cooperation human-robot interaction supernumerary robotic finger supernumerary robotic limb wearable robots 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]