Design of Reconfigurable Supernumerary Robotic Limb Based on Differential Actuated Joints

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Supernumerary Robotic Limb Based on Differential Actuated Joints</title> <meta name="description" content="Design of Reconfigurable Supernumerary Robotic Limb Based on Differential Actuated Joints"> <meta name="keywords" content="cable-driven, differential actuated joints, reconfigurable, supernumerary robotic limb"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img 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publication-listing mt-3 mb-3"> <h5 class="card-header" style="font-size:.9rem">Design of Reconfigurable Supernumerary Robotic Limb Based on Differential Actuated Joints</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Qinghua%20Zhang">Qinghua Zhang</a>, <a href="https://publications.waset.org/abstracts/search?q=Yanhe%20Zhu"> Yanhe Zhu</a>, <a href="https://publications.waset.org/abstracts/search?q=Xiang%20Zhao"> Xiang Zhao</a>, <a href="https://publications.waset.org/abstracts/search?q=Yeqin%20Yang"> Yeqin Yang</a>, <a href="https://publications.waset.org/abstracts/search?q=Hongwei%20Jing"> Hongwei Jing</a>, <a href="https://publications.waset.org/abstracts/search?q=Guoan%20Zhang"> Guoan Zhang</a>, <a href="https://publications.waset.org/abstracts/search?q=Jie%20Zhao"> Jie Zhao</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a wearable reconfigurable supernumerary robotic limb with differential actuated joints, which is lightweight, compact and comfortable for the wearers. Compared to the existing supernumerary robotic limbs which mostly adopted series structure with large movement space but poor carrying capacity, a prototype with the series-parallel configuration to better adapt to different task requirements has been developed in this design. To achieve a compact structure, two kinds of cable-driven mechanical structures based on guide pulleys and differential actuated joints were designed. Moreover, two different tension devices were also designed to ensure the reliability and accuracy of the cable-driven transmission. The proposed device also employed self-designed bearings which greatly simplified the structure and reduced the cost. <iframe src="https://publications.waset.org/abstracts/119868.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=cable-driven" title="cable-driven">cable-driven</a>, <a href="https://publications.waset.org/abstracts/search?q=differential%20actuated%20joints" title=" differential actuated joints"> differential actuated joints</a>, <a href="https://publications.waset.org/abstracts/search?q=reconfigurable" title=" reconfigurable"> reconfigurable</a>, <a href="https://publications.waset.org/abstracts/search?q=supernumerary%20robotic%20limb" title=" supernumerary robotic limb"> supernumerary robotic limb</a> </p> <a href="https://publications.waset.org/abstracts/119868/design-of-reconfigurable-supernumerary-robotic-limb-based-on-differential-actuated-joints" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/119868.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">221</span> </span> </div> </div> </div> </main> <footer> <div id="infolinks" class="pt-3 pb-2"> <div class="container"> <div style="background-color:#f5f5f5;" class="p-3"> <div class="row"> <div class="col-md-2"> <ul class="list-unstyled"> About <li><a href="https://waset.org/page/support">About Us</a></li> <li><a href="https://waset.org/page/support#legal-information">Legal</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/WASET-16th-foundational-anniversary.pdf">WASET celebrates its 16th foundational anniversary</a></li> </ul> </div> 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Design of Reconfigurable Supernumerary Robotic Limb Based on Differential Actuated Joints