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Human augmentation by wearable supernumerary robotic limbs: review and perspectives
Domenico Prattichizzo1,2,3, Maria Pozzi1,2,3, Tommaso Lisini Baldi1
1Department of Information Engineering and Mathematics, University of Siena, Siena, Italy.
Progress in Biomedical Engineering (Bristol, England)
|December 10, 2025
Summary
Supernumerary robotic limbs (SRLs) enhance human sensorimotor abilities for rehabilitation and augmentation. This review explores SRL design, control challenges, and their impact on the user's body schema.
Area of Science:
- Robotics
- Human-Computer Interaction
- Neuroscience
Background:
- Supernumerary robotic limbs (SRLs) are wearable robots augmenting human sensorimotor capabilities.
- SRLs offer potential for motor deficit compensation and general human augmentation.
Purpose of the Study:
- To review the design, control, and applications of SRLs.
- To discuss the neuroscientific implications of SRL use on body schema.
- To explore the trade-offs between user control and robot autonomy.
Main Methods:
- Literature review of current research on SRLs.
- Analysis of design challenges including ergonomics, wearability, robustness, and strength.
- Discussion of control strategies, user interfaces, and feedback mechanisms.
Main Results:
- SRLs require careful balancing of user control and robot autonomy.
- Feedback interfaces can improve SRL command and usability.
- SRLs present unique challenges in design and control compared to collaborative robots.
Conclusions:
- SRLs are promising assistive and augmentative devices with significant potential.
- Further research is needed on SRL control, human-robot interaction, and neuroscientific effects.
- Understanding the impact on body schema is crucial for SRL development and adoption.
