Supernumerary robotic limbs (SRLs) gained increasing interest in the last years for their applicability as healthcare and assistive technologies. These devices can either support or augment human sensorimotor capabilities, allowing users to complete tasks that are more complex than those feasible for their natural limbs. However, for a successful coordination between natural and artificial limbs, intuitiveness of interaction and perception of autonomy are key enabling features, especially for people suffering from motor disorders and impairments. The development of suitable human-robot interfaces is thus fundamental to foster the adoption of SRLs.With this work, we describe how to control an extra degree of freedom by taking advantage of what we defined the Intrinsic Kinematic Null Space, i.e. the redundancy of the human kinematic chain involved in the ongoing task. Obtained results demonstrated that the proposed control strategy is effective for performing complex tasks with a supernumerary robotic finger, and that practice improves users' control ability.


    Access

    Download


    Export, share and cite



    Title :

    Exploiting Intrinsic Kinematic Null Space for Supernumerary Robotic Limbs Control



    Publication date :

    2023-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Human augmentation by wearable supernumerary robotic limbs: Review and perspectives

    Prattichizzo D. / Pozzi M. / Lisini Baldi T. et al. | BASE | 2021

    Free access


    Slip detection using robotic limbs

    BLANKESPOOR KEVIN / PERKINS ALEX / DA SILVA MARCO | European Patent Office | 2017

    Free access

    Path Planners Analysis to Avoid Human Arms in Supernumerary Robotic Devices

    Álvarez-Pastor, Jesús / Martínez-Pascual, David / Pérez, Luis Daniel et al. | Springer Verlag | 2022


    Bio-Inspired Imprecise Impedance Control of Muscle-Driven Robotic Limbs

    Vonwirth, Patrick / Berns, Karsten | TIBKAT | 2023