外肢体机器人研究现状及发展趋势

Supernumerary robotic limbs are a new type of wearable human auxiliary equipment. Human's ability of activity, perception and operation can be improved through cooperation with supernumerary robotic limbs. The broad application prospect of supernumerary robotic limbs is shown in the fields of industrial production, medical rehabilitation, elderly and disabled assistance and life services. Aiming at the current research situation of supernumerary robotic limbs at home and abroad, the noumenon structures, control methods and application fields are reviewed. According to different noumenon structures and functions, supernumerary robotic limbs are divided into extra limbs and extra fingers. From the aspect of structural flexibility, supernumerary robotic limbs are divided into rigid supernumerary robotic limbs and flexible supernumerary robotic limbs. The current control methods of supernumerary robotic limbs are summarized and analyzed, including limb mapping control, EMG signal control and brain-machine interface control. The technical challenges and trends ahead of supernumerary robotic limbs are also discussed.