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Wearable Extra Robotic Limbs: A Systematic Review of Current Progress and Future Prospects

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Abstract

Wearable robots have obtained increasing research attention for the potential to provide the wearer with greater strength, higher extensibility, and handleability. Wearable extra robotic limbs (Ex-Limb) as a new type of wearable robot become a hot research issue in recent years. Ex-Limb reconstructs various advantages of robots on the wearer as an extra body part due to the potential of the intelligent robot in promoting working efficiency by automation technology. This paper defines the concept of Ex-Limb and introduces the Ex-Limb from 5 aspects including the development process, the structural design features, the performance parameters, and the application scenario, which are the main considerations of human–robot interaction based on the reported works in the past decade. This paper also systematically summarizes and underlines the current research progress based on different classifications, and mainly analyzes the key technologies including human–robot interactive adapting (HRiA), human–robot interactive perception (HRiP), human–robot interactive control (HRiC), and human–robot collaboration (HRC), thus describing the practical challenges faced by Ex-Limb and giving a prospect of the main technical aspects to be improved in future. It is concluded that human–robot integration is the base of high-level human–robot collaboration, and the interaction between the human brain and the intelligent brain of Ex-Limb would improve the capabilities of Ex-Limb to sense the wearer’s intention and collaborate with the wearer. The essence of HRC is the natural interaction process of integrating the biological system and the physical system, making the physical system become a part of the biological system.

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Data Availability

The data that support the findings of this study are available from the corresponding author upon reasonable request.

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Acknowledgements

All authors would like to thank the reviewers and the editor for their constructive remarks and suggestions for improving this paper. Thanks to the support of the Team of Wearable Intelligence Technology at Nanjing University of Science and Technology.

Funding

This work was supported in part by the National Defense Basic Scientific Research Program of China (Grant Number B1020132012).

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  1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210094, China

    Hui-Bin Li, Zhong Li, Long He & Xiao-Rong Guan

  2. Hangzhou Zhiyuan Research Institute, Hangzhou, 310000, China

    Long He

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All authors contributed to the study conception and design. Material preparation, data collection was performed by Hui-Bin Li, Zhong Li and Long He, data analysis was performed by Hui-Bin Li and Xiao-Rong Guan. The first draft of the manuscript was written by Hui-Bin Li and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Xiao-Rong Guan.

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Li, HB., Li, Z., He, L. et al. Wearable Extra Robotic Limbs: A Systematic Review of Current Progress and Future Prospects. J Intell Robot Syst 109, 16 (2023). https://doi.org/10.1007/s10846-023-01940-0

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