Aucto - Shoulder Mounted Extra Robotic Limb

Introduction to the Supernumerary Robotic Limb (SRL)00:00:00

A novel shoulder-mounted robotic arm, the Supernumerary Robotic Limb (SRL), is introduced. It is designed to assist workers in manufacturing and related activities, aiming to augment the wearer's capabilities.

Aircraft Manufacturing Application00:00:08

The SRL is demonstrated in an aircraft manufacturing setting, specifically assembling an overhead compartment. This task typically requires multiple workers but can now be completed by a single technician with the SRL supporting the compartment, offering consistent force and direction.

System Stability and Control00:00:28

The robot's stability against dynamic disturbances and stiff structures is highlighted. This stability is achieved through onboard filtering, accurate force data, and damped least squares inverse kinematics. A simple admittance controller allows the robot to compensate for the wearer's movements.

Posture Compensation and World Coordinates00:00:43

A demonstration shows the robot arm pointing along a fixed x-axis while the wearer moves. The SRL senses the changing posture and remains aligned with the world coordinate system, rather than the human body's coordinates.

Effortless Tool Manipulation00:00:55

The worker uses the SRL to hold a 5-pound weight. The control loop compensates for the mass, making the tool feel weightless and allowing the wearer's input force to command robot movement effortlessly.

Support for Prone Working Positions00:01:11

The SRL can also support a human worker in prone or kneeling positions, which are common in manufacturing. This frees the technician's hands to perform tasks without needing to support their own weight.