<?xml version="1.0" encoding="UTF-8"?> <article key="pdf/10011167" mdate="2020-03-05 00:00:00"> <author>Qinghua Zhang and Yanhe Zhu and Xiang Zhao and Yeqin Yang and Hongwei Jing and Guoan Zhang and Jie Zhao</author> <title>Design of Reconfigurable Supernumerary Robotic Limb Based on Differential Actuated Joints</title> <pages>115 - 122</pages> <year>2020</year> <volume>14</volume> <number>4</number> <journal>International Journal of Computer and Information Engineering</journal> <ee>https://publications.waset.org/pdf/10011167</ee> <url>https://publications.waset.org/vol/160</url> <publisher>World Academy of Science, Engineering and Technology</publisher> <abstract>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 seriesparallel configuration to better adapt to different task requirements has been developed in this design. To achieve a compact structure, two kinds of cabledriven 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 cabledriven transmission. The proposed device also employed selfdesigned bearings which greatly simplified the structure and reduced the cost. </abstract> <index>Open Science Index 160, 2020</index> </article>