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2017 | OriginalPaper | Chapter

Design and Control of Lightweight Supernumerary Robotic Limbs for Sitting/Standing Assistance

Authors : Laura Treers, Roger Lo, Michael Cheung, Aymeric Guy, Jacob Guggenheim, Federico Parietti, Harry Asada

Published in: 2016 International Symposium on Experimental Robotics

Publisher: Springer International Publishing

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Abstract

We present a new, lightweight prototype of the Supernumerary Robotic Limbs (SRL), a wearable robot that augments its user by providing two extra robotic legs. We then showcase the robot’s assistive capabilities by developing and implementing a control strategy that supports the user during sitting and standing motions. The reduced mass and volume of the robot are enabled by innovative design choices including advanced materials, efficient joint structure, and high-performance pneumatic actuation. The assistive control strategy is tailored to each individual based on their motion preferences, and allows the SRL to support users without getting in the way of their movements. The proposed assistive strategy is implemented and validated in experiments with the physical SRL prototype.

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previous chapter Hybrid Human Motion Prediction for Action Selection Within Human-Robot Collaboration
next chapter Integrated Intelligence for Human-Robot Teams
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Metadata
Title
Design and Control of Lightweight Supernumerary Robotic Limbs for Sitting/Standing Assistance
Authors
Laura Treers
Roger Lo
Michael Cheung
Aymeric Guy
Jacob Guggenheim
Federico Parietti
Harry Asada
Copyright Year
2017
Book
2016 International Symposium on Experimental Robotics

Print ISBN: 978-3-319-50114-7

Electronic ISBN: 978-3-319-50115-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-50115-4_27