Design and control of Supernumerary Robotic Limbs for near-ground work

Abstract

Supernumerary Robotic Limbs (SRLs) are a recent form of robot that augment natural human abilities through the addition of body-mounted robotic appendages which can move independently of the wearer. This thesis provides a detailed analysis of the MantisBot, an SRL morphology that provides a wearer with two torso-mounted limbs that support the body in crawling- and kneeling-like positions, such that the wearer's natural arms are free to do useful work near the ground. First, the concept and its motivations are discussed, followed by a biomechanical analysis of the human-robot system. Two full-scale prototypes are then introduced, and control laws used in supporting a wearer's body both statically using impedance control, and dynamically using predictive models of natural crawling gaits, are developed. Finally, the system is experimentally validated, and it is concluded that SRLs for near-ground work are a valid and useful tool for improving worker comfort and productivity.