IEEE Trans Haptics. 2021 Jan-Mar;14(1):123-131. doi: 10.1109/TOH.2020.3017548. Epub 2021 Mar 24.
Supernumerary Robotics Limbs, or SuperLimbs for short, are wearable extra limbs for augmenting the wearer. SuperLimbs are attached directly to a human and, thereby, transmit a force from the environment to the human body. This inherent haptic feedback allows the human to perceive the interaction between the robot and the environment, monitor its actions, and effectively control the robot. This article addresses basic properties and the usefulness of the inherent haptic feedback from SuperLimbs in two exemplary cases. First, we show that the inherent haptic feedback allows the wearer to close the loop and manually regulate the force output of the SuperLimb. Second, we show that the inherent haptic feedback is sufficient for the wearer to supervise the autonomous actions of the SuperLimb. This ability is a critical requirement for safely and effectively performing multiple tasks simultaneously with the natural limbs and SuperLimbs. Together, these findings suggest the importance of designing SuperLimbs to take advantage of the inherent haptic feedback.
额外肢体机器人，简称 SuperLimbs，是一种可穿戴的额外肢体，用于增强佩戴者的能力。SuperLimbs 直接连接到人体上，从而将环境中的力传递到人体。这种固有的触觉反馈使人类能够感知机器人与环境之间的相互作用，监控其动作，并有效地控制机器人。本文通过两个示例案例讨论了 SuperLimbs 固有触觉反馈的基本特性和用途。首先，我们表明固有触觉反馈允许佩戴者闭环并手动调节 SuperLimb 的力输出。其次，我们表明固有触觉反馈足以让佩戴者监督 SuperLimb 的自主动作。这种能力是同时使用自然肢体和 SuperLimbs 安全有效地执行多项任务的关键要求。综上所述，这些发现表明了设计 SuperLimbs 以利用固有触觉反馈的重要性。
