The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 15, 2026
Filed:
Jul. 25, 2022
Southeast University, Nanjing, CN;
Hong Zeng, Nanjing, CN;
Huayu Zhang, Nanjing, CN;
Jianxi Zhang, Nanjing, CN;
Aiguo Song, Nanjing, CN;
SOUTHEAST UNIVERSITY, Nanjing, CN;
Abstract
An auxiliary support method based on variable stiffness supernumerary robotic limbs includes: obtaining data from a surface electromyography sensor and an inertial sensor; processing the data from the inertial sensor to determine whether a wearer has an operation intention; preprocessing the data from the surface electromyography sensor through full-wave rectification, low-pass filtering and normalization; using preprocessed surface electromyography to estimate a reference stiffness of an arm of the wearer; and mapping the reference stiffness of the arm to an impedance control model of the supernumerary robotic limbs. In the method, man-machine cooperation between human and the supernumerary robotic limbs in a task of overhead support is achieved by coordinating a stiffness of the human arm and a stiffness of the supernumerary robotic limbs, thereby reducing input of personnel in the task; and when the stiffness of the arm of the wearer decreases, the stiffness of the supernumerary robotic limbs increases.