TY - JFULL AU - Qinghua Zhang and Yanhe Zhu and Xiang Zhao and Yeqin Yang and Hongwei Jing and Guoan Zhang and Jie Zhao PY - 2020/5/ TI - Design of Reconfigurable Supernumerary Robotic Limb Based on Differential Actuated Joints T2 - International Journal of Computer and Information Engineering SP - 114 EP - 122 VL - 14 SN - 1307-6892 UR - https://publications.waset.org/pdf/10011167 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 160, 2020 N2 - 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. ER -