Supernumerary robotic limbs (SRLs) are a new type of wearable human auxiliary equipment, which is currently a hot research topic in the world. SRLs have broad applications in many fields, and will provide a reference and technical support for the realization of human-robot collaboration and integration, while playing an important role in improving social security and public services. In this paper, representative SRLs are summarized from the aspects of related literature analysis, research status, ontology structure design, control and driving, sensing and perception, and application fields. This paper also analyzes and summarizes the current technical challenges faced by SRLs, and reviews development progress and key technologies, thus giving a prospect of future technical development trends.

中文翻译：

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超大型机器人肢体的研究与发展述评

超数字机器人肢体（SRLs）是一种新型的可穿戴人体辅助设备，目前是世界上的一个热门研究课题。SRL在许多领域都有广泛的应用，将为实现人机协作和集成提供参考和技术支持，同时在改善社会保障和公共服务方面发挥着重要作用。本文从相关文献分析，研究现状，本体结构设计，控制与驱动，传感与感知以及应用领域等方面总结了具有代表性的SRL。本文还分析和总结了SRL所面临的当前技术挑战，并回顾了开发进度和关键技术，从而为未来的技术发展趋势提供了前景。