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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Dollar, A., Herr, H.: Lower extremity exoskeletons and active orthoses: Challenges and state-of-the-art. IEEE Trans. Rob. 24(1), 144–158 (2008)
Bogue, R.: Exoskeletons and robotic prosthetics: a review of recent developments. Ind. Rob. Int. J. 36(5), 421–427 (2009)
Kawamoto, H., Sankai, Y.: Power assist system HAL-3 for gait disorder person. In: Miesenberger, K., Klaus, J., Zagler, W. (eds.) ICCHP 2002. LNCS, vol. 2398, pp. 196–203. Springer, Heidelberg (2002)
Ferris, D.P., Czerniecki, J.M., Hannaford, B., U. of Washington: An ankle-foot orthosis powered by artificial pneumatic muscles. J. Appl. Biomech. 21(2), 189 (2005)
Kuiken, T.A., Li, G., Lock, B.A., Lipschutz, R.D., Miller, L.A., Stubblefield, K.A., Englehart, K.B.: Targeted muscle reinnervation for real-time myoelectric control of multifunction artificial arms. JAMA 301(6), 619–628 (2009)
Parietti, F., Asada, H.: Dynamic analysis and state estimation for wearable robotic limbs subject to human-induced disturbances. In: Proceedings of IEEE International Conference on Robotics and Automation (2013) (in press)
Parietti, F., Asada, H.: Supernumerary robotic limbs for aircraft fuselage assembly: body stabilization and guidance by bracing. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 1176–1183 (2014)
Parietti, F., Chan, K., Asada, H.: Bracing the human body with supernumerary robotic limbs for physical assistance and load reduction. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 141–148, May 2014
Parietti, F., Chan, K.C., Hunter, B., Asada, H.: Design and control of supernumerary robotic limbs for balance augmentation. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), May 2015
Parietti, F., Asada, H.: Supernumerary robotic limbs for human body support. IEEE Trans. Rob. PP(99), 1–11 (2016)
Brown, T.M.: Injuries, illnesses and fatalities in manufacturing, 2005. Bureau of Labor Statistics, July 2007
Janssen, W.G., Bussmann, H.B., Stam, H.J.: Determinants of the sit-to-stand movement: a review. Phys. Ther. 82(9), 866–879 (2002)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Treers, L. et al. (2017). Design and Control of Lightweight Supernumerary Robotic Limbs for Sitting/Standing Assistance. In: Kulić, D., Nakamura, Y., Khatib, O., Venture, G. (eds) 2016 International Symposium on Experimental Robotics. ISER 2016. Springer Proceedings in Advanced Robotics, vol 1. Springer, Cham. https://doi.org/10.1007/978-3-319-50115-4_27
Download citation
DOI: https://doi.org/10.1007/978-3-319-50115-4_27
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-50114-7
Online ISBN: 978-3-319-50115-4
eBook Packages: EngineeringEngineering (R0)