Review of Supernumerary Robotic Limbs

Abstract

Supernumerary robotic limbs (SRLs) are the expansion of human body. It can provide extra limbs to enhance human ability. It is a novel way to assist the existing limbs using SRLs without prejudice to the normal activities of the user's arm. It has great application prospects in the fields of military, industry, rehabilitation training and assistance in daily life. Based on the public research results of SRLs around the world, the development state of SRLs are summarized from the mechanical architecture, actuation mode, motion intention prediction and control strategy. The technical problems for SRLs are analyzed and their future technical development is given.