Supernumerary Robotics Limbs, or SuperLimbs for short, are wearable extra limbs for augmenting the wearer. SuperLimbs are attached directly to a human and, thereby, transmit a force from the environment to the human body. This inherent haptic feedback allows the human to perceive the interaction between the robot and the environment, monitor its actions, and effectively control the robot. This paper addresses basic properties and the usefulness of the inherent haptic feedback from SuperLimbs in two exemplary cases. First, we show that the inherent haptic feedback allows the wearer to close the loop and manually regulate the force output of the SuperLimb. Second, we show that the inherent haptic feedback is sufficient for the wearer to supervise the autonomous actions of the SuperLimb. This ability is a critical requirement for safely and effectively performing multiple tasks simultaneously with the natural limbs and SuperLimbs. Together, these findings suggest the importance of designing SuperLimbs to take advantage of the inherent haptic feedback.

中文翻译：

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来自多余机器人肢体的固有触觉反馈

Supernumerary Robotics Limbs，简称 SuperLimbs，是可穿戴的额外肢体，用于增强佩戴者的力量。SuperLimbs 直接附着在人体上，从而将力从环境传递到人体。这种固有的触觉反馈使人类能够感知机器人与环境之间的相互作用，监控其动作，并有效地控制机器人。本文在两个示例案例中讨论了来自 SuperLimbs 的固有触觉反馈的基本属性和有用性。首先，我们展示了固有的触觉反馈允许佩戴者关闭回路并手动调节 SuperLimb 的力输出。其次，我们表明固有的触觉反馈足以让佩戴者监督 SuperLimb 的自主动作。这种能力是使用自然肢体和超级肢体同时安全有效地执行多项任务的关键要求。总之，这些发现表明设计 SuperLimbs 以利用固有的触觉反馈的重要性。