Modelling human postural stability and muscle activation augmented by a supernumerary robotic tail.

Area of Science:

• Robotics
• Biomechanics
• Human Augmentation

Background:

• Wearable robots offer potential for human augmentation.
• Biomechanical impact must be considered during the design phase of wearable robots.
• Supernumerary robotic limbs are an emerging area of research.

Purpose of the Study:

• To assess the biomechanical implications of a supernumerary robotic tail using musculoskeletal software.
• To determine optimal design specifications for a two-degrees-of-freedom robotic tail.
• To evaluate the effect of the robotic tail on muscle activation and human-robot interaction.

Main Methods:

• Utilized musculoskeletal software for biomechanical analysis.
• Simulated forward and backward tilting motions of a posterior-mounted robotic tail.
• Assessed key criteria including center of pressure, dynamic wrench, and global muscle activation index.

Main Results:

• The supernumerary robotic tail reduced lower limb muscle activation during quiet stance.
• Optimal design specifications involved a trade-off between geometric/inertial properties and muscle assistance.
• The robotic tail's design influences safe physical human-robot interaction.

Conclusions:

• Musculoskeletal modeling is effective for evaluating wearable robot biomechanics.
• A well-designed robotic tail can augment human capabilities by reducing muscle load.
• Balancing design parameters is crucial for safe and effective human-robot collaboration.