Design and Human-Robot Collaborative Control of Reconfigurable Supernumerary Robotic Limb for Overhead Work

Peixin Wang; Jiajun Xu; Mengcheng Zhao; Juanxia Zhou; Xingyu Liu; Youfu Li

doi:10.1007/978-981-95-2098-5_58

Design and Human-Robot Collaborative Control of Reconfigurable Supernumerary Robotic Limb for Overhead Work

Peixin Wang
, Jiajun Xu^*
, Mengcheng Zhao
, Juanxia Zhou
, Xingyu Liu
, Youfu Li

^*Corresponding author for this work

Department of Mechanical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

Abstract

This study presents design and human-robot collaboration framework for a reconfigurable supernumerary robotic limb (SRL) system, focusing on obstacle-avoidance trajectory planning and adaptive control strategies. The SRL features a modular, lightweight rigid structure with five rotational and one translational degree of freedom, and it is mounted on the operator’s waist to enhance stability. To address interference risks during overhead work, we propose an RRT*-based trajectory planning algorithm combined with cubic B-spline smoothing, which optimizes path length and minimizes vibrations while ensuring collision-free motion. For human-robot coordination, a multi-modal control framework integrates inertial measurement units (IMUs), electromyography (EMG), and motion cameras to detect user intent with a finite state machine (FSM) model. The system employs reinforcement learning-tuned variable impedance control, adapting stiffness and damping parameters in real-time to improve precision and safety. Simulations demonstrate the SRL’s ability to navigate static obstacles, achieving smooth trajectories via B-spline interpolation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.

Original language	English
Title of host publication	Intelligent Robotics and Applications
Subtitle of host publication	18th International Conference, ICIRA 2025, Okayama, Japan, August 6–9, 2025, Proceedings, Part II
Editors	Takayuki Matsuno, Honghai Liu, Lianqing Liu, Zhouping Yin, Xiangyang Zhu, Weihong Ren, Zhiyong Wang, Yixuan Sheng
Place of Publication	Singapore
Publisher	Springer
Pages	686-697
Number of pages	12
ISBN (Electronic)	978-981-95-2098-5
ISBN (Print)	978-981-95-2097-8
DOIs	https://doi.org/10.1007/978-981-95-2098-5_58
Publication status	Published - 2026
Event	18th International Conference on Intelligent Robotics and Applications (ICIRA 2025) - Okayama, Japan Duration: 6 Aug 2025 → 9 Aug 2025

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence)
Volume	16075
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	18th International Conference on Intelligent Robotics and Applications (ICIRA 2025)
Place	Japan
City	Okayama
Period	6/08/25 → 9/08/25

Bibliographical note

Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

Funding

This work was supported by National Science Foundation of China under Grant 52205018 and 62173286, China Postdoctoral Science Foundation under Grant 2024M754124, State Key Laboratory of Robotics under Grant 2023-O16, Open Research Fund of The State Key Laboratory of Multimodal Artificial Intelligence Systems under Grant MAIS2025023, Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction, Engineering Research Center of Dredging Technology, Ministry of Education, Hohai University under Grant 2025221003, and Jiangsu Provincial Science and Technology Think Tank Program Project under Grant JSKX0125055.

Research Keywords

Human-Robot Collaboration
Obstacle Avoidance
RRT* Algorithm
Supernumerary Robotic Limbs

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10.1007/978-981-95-2098-5_58

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Wang, P., Xu, J., Zhao, M., Zhou, J., Liu, X., & Li, Y. (2026). Design and Human-Robot Collaborative Control of Reconfigurable Supernumerary Robotic Limb for Overhead Work. In T. Matsuno, H. Liu, L. Liu, Z. Yin, X. Zhu, W. Ren, Z. Wang, & Y. Sheng (Eds.), Intelligent Robotics and Applications: 18th International Conference, ICIRA 2025, Okayama, Japan, August 6–9, 2025, Proceedings, Part II (pp. 686-697). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence); Vol. 16075). Springer . https://doi.org/10.1007/978-981-95-2098-5_58

Wang, Peixin ; Xu, Jiajun ; Zhao, Mengcheng et al. / Design and Human-Robot Collaborative Control of Reconfigurable Supernumerary Robotic Limb for Overhead Work. Intelligent Robotics and Applications: 18th International Conference, ICIRA 2025, Okayama, Japan, August 6–9, 2025, Proceedings, Part II. editor / Takayuki Matsuno ; Honghai Liu ; Lianqing Liu ; Zhouping Yin ; Xiangyang Zhu ; Weihong Ren ; Zhiyong Wang ; Yixuan Sheng. Singapore : Springer , 2026. pp. 686-697 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence)).

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title = "Design and Human-Robot Collaborative Control of Reconfigurable Supernumerary Robotic Limb for Overhead Work",

abstract = "This study presents design and human-robot collaboration framework for a reconfigurable supernumerary robotic limb (SRL) system, focusing on obstacle-avoidance trajectory planning and adaptive control strategies. The SRL features a modular, lightweight rigid structure with five rotational and one translational degree of freedom, and it is mounted on the operator{\textquoteright}s waist to enhance stability. To address interference risks during overhead work, we propose an RRT*-based trajectory planning algorithm combined with cubic B-spline smoothing, which optimizes path length and minimizes vibrations while ensuring collision-free motion. For human-robot coordination, a multi-modal control framework integrates inertial measurement units (IMUs), electromyography (EMG), and motion cameras to detect user intent with a finite state machine (FSM) model. The system employs reinforcement learning-tuned variable impedance control, adapting stiffness and damping parameters in real-time to improve precision and safety. Simulations demonstrate the SRL{\textquoteright}s ability to navigate static obstacles, achieving smooth trajectories via B-spline interpolation. {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.",

keywords = "Human-Robot Collaboration, Obstacle Avoidance, RRT* Algorithm, Supernumerary Robotic Limbs",

author = "Peixin Wang and Jiajun Xu and Mengcheng Zhao and Juanxia Zhou and Xingyu Liu and Youfu Li",

note = "Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).; 18th International Conference on Intelligent Robotics and Applications (ICIRA 2025) ; Conference date: 06-08-2025 Through 09-08-2025",

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isbn = "978-981-95-2097-8",

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}

Wang, P, Xu, J, Zhao, M, Zhou, J, Liu, X & Li, Y 2026, Design and Human-Robot Collaborative Control of Reconfigurable Supernumerary Robotic Limb for Overhead Work. in T Matsuno, H Liu, L Liu, Z Yin, X Zhu, W Ren, Z Wang & Y Sheng (eds), Intelligent Robotics and Applications: 18th International Conference, ICIRA 2025, Okayama, Japan, August 6–9, 2025, Proceedings, Part II. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence), vol. 16075, Springer , Singapore, pp. 686-697, 18th International Conference on Intelligent Robotics and Applications (ICIRA 2025), Okayama, Japan, 6/08/25. https://doi.org/10.1007/978-981-95-2098-5_58

Design and Human-Robot Collaborative Control of Reconfigurable Supernumerary Robotic Limb for Overhead Work. / Wang, Peixin; Xu, Jiajun; Zhao, Mengcheng et al.
Intelligent Robotics and Applications: 18th International Conference, ICIRA 2025, Okayama, Japan, August 6–9, 2025, Proceedings, Part II. ed. / Takayuki Matsuno; Honghai Liu; Lianqing Liu; Zhouping Yin; Xiangyang Zhu; Weihong Ren; Zhiyong Wang; Yixuan Sheng. Singapore: Springer , 2026. p. 686-697 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence); Vol. 16075).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Design and Human-Robot Collaborative Control of Reconfigurable Supernumerary Robotic Limb for Overhead Work

AU - Wang, Peixin

AU - Xu, Jiajun

AU - Zhao, Mengcheng

AU - Zhou, Juanxia

AU - Liu, Xingyu

AU - Li, Youfu

N1 - Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

PY - 2026

Y1 - 2026

N2 - This study presents design and human-robot collaboration framework for a reconfigurable supernumerary robotic limb (SRL) system, focusing on obstacle-avoidance trajectory planning and adaptive control strategies. The SRL features a modular, lightweight rigid structure with five rotational and one translational degree of freedom, and it is mounted on the operator’s waist to enhance stability. To address interference risks during overhead work, we propose an RRT*-based trajectory planning algorithm combined with cubic B-spline smoothing, which optimizes path length and minimizes vibrations while ensuring collision-free motion. For human-robot coordination, a multi-modal control framework integrates inertial measurement units (IMUs), electromyography (EMG), and motion cameras to detect user intent with a finite state machine (FSM) model. The system employs reinforcement learning-tuned variable impedance control, adapting stiffness and damping parameters in real-time to improve precision and safety. Simulations demonstrate the SRL’s ability to navigate static obstacles, achieving smooth trajectories via B-spline interpolation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.

AB - This study presents design and human-robot collaboration framework for a reconfigurable supernumerary robotic limb (SRL) system, focusing on obstacle-avoidance trajectory planning and adaptive control strategies. The SRL features a modular, lightweight rigid structure with five rotational and one translational degree of freedom, and it is mounted on the operator’s waist to enhance stability. To address interference risks during overhead work, we propose an RRT*-based trajectory planning algorithm combined with cubic B-spline smoothing, which optimizes path length and minimizes vibrations while ensuring collision-free motion. For human-robot coordination, a multi-modal control framework integrates inertial measurement units (IMUs), electromyography (EMG), and motion cameras to detect user intent with a finite state machine (FSM) model. The system employs reinforcement learning-tuned variable impedance control, adapting stiffness and damping parameters in real-time to improve precision and safety. Simulations demonstrate the SRL’s ability to navigate static obstacles, achieving smooth trajectories via B-spline interpolation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.

KW - Human-Robot Collaboration

KW - Obstacle Avoidance

KW - RRT Algorithm

KW - Supernumerary Robotic Limbs

UR - https://www.scopus.com/pages/publications/105020891090

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-105020891090&origin=recordpage

U2 - 10.1007/978-981-95-2098-5_58

DO - 10.1007/978-981-95-2098-5_58

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 978-981-95-2097-8

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence)

SP - 686

EP - 697

BT - Intelligent Robotics and Applications

A2 - Matsuno, Takayuki

A2 - Liu, Honghai

A2 - Liu, Lianqing

A2 - Yin, Zhouping

A2 - Zhu, Xiangyang

A2 - Ren, Weihong

A2 - Wang, Zhiyong

A2 - Sheng, Yixuan

PB - Springer

CY - Singapore

T2 - 18th International Conference on Intelligent Robotics and Applications (ICIRA 2025)

Y2 - 6 August 2025 through 9 August 2025

ER -

Wang P, Xu J, Zhao M, Zhou J, Liu X, Li Y. Design and Human-Robot Collaborative Control of Reconfigurable Supernumerary Robotic Limb for Overhead Work. In Matsuno T, Liu H, Liu L, Yin Z, Zhu X, Ren W, Wang Z, Sheng Y, editors, Intelligent Robotics and Applications: 18th International Conference, ICIRA 2025, Okayama, Japan, August 6–9, 2025, Proceedings, Part II. Singapore: Springer . 2026. p. 686-697. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence)). Epub 2025 Oct 27. doi: 10.1007/978-981-95-2098-5_58

Design and Human-Robot Collaborative Control of Reconfigurable Supernumerary Robotic Limb for Overhead Work

Abstract

Publication series

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Bibliographical note

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Research Keywords

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