{"id":"https://openalex.org/W4416748757","doi":"https://doi.org/10.1109/iros60139.2025.11246441","title":"A Variable Stiffness Supernumerary Robotic Limb with Pneumatic-Tendon Coupled Actuation <sup>*</sup>","display_name":"A Variable Stiffness Supernumerary Robotic Limb with Pneumatic-Tendon Coupled Actuation <sup>*</sup>","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748757","doi":"https://doi.org/10.1109/iros60139.2025.11246441"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246441","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246441","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102662882","display_name":"Mengcheng Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengcheng Zhao","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007706005","display_name":"Jiajun Xu","orcid":"https://orcid.org/0000-0002-9517-1042"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiajun Xu","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053913876","display_name":"Peixin Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peixin Wang","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Juanxia Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juanxia Zhou","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042421827","display_name":"Tianyi Zhang","orcid":"https://orcid.org/0009-0006-8009-9208"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyi Zhang","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022043318","display_name":"Kaizhen Huang","orcid":"https://orcid.org/0009-0009-4109-2961"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaizhen Huang","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023252493","display_name":"Aihong Ji","orcid":"https://orcid.org/0000-0002-1905-0564"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aihong Ji","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Mechanical and Electrical Engineering,Nanjing,China,210016","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101950397","display_name":"Xuyan Hou","orcid":"https://orcid.org/0000-0002-6798-6113"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuyan Hou","raw_affiliation_strings":["Harbin Institute of Technology,School of Mechatronics Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Mechatronics Engineering,China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101456771","display_name":"Guoli Song","orcid":"https://orcid.org/0000-0002-6188-0334"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoli Song","raw_affiliation_strings":["Shenyang Institute of Automation,State Key Laboratory of Robotics,Shenyang,China,110169"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation,State Key Laboratory of Robotics,Shenyang,China,110169","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I4391768281"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100642147","display_name":"Youfu Li","orcid":"https://orcid.org/0000-0002-5227-1326"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Youfu Li","raw_affiliation_strings":["City University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I168719708"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"16469","last_page":"16475"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.8363000154495239,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.8363000154495239,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.10090000182390213,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.020500000566244125,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8263999819755554},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6025999784469604},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5734000205993652},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.5006999969482422},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45559999346733093},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4381999969482422},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4140999913215637},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38580000400543213}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8263999819755554},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6025999784469604},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5734000205993652},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5199999809265137},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.5006999969482422},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45559999346733093},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4381999969482422},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4140999913215637},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4000000059604645},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38580000400543213},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.38359999656677246},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.37299999594688416},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3659999966621399},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.36250001192092896},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3562999963760376},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3562999963760376},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.3476000130176544},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3098999857902527},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3077000081539154},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2856000065803528},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26820001006126404},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2590000033378601},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2574999928474426},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246441","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246441","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W30599984","https://openalex.org/W1601978771","https://openalex.org/W1696514235","https://openalex.org/W2313937152","https://openalex.org/W2561609334","https://openalex.org/W2770867627","https://openalex.org/W2801401001","https://openalex.org/W2897701914","https://openalex.org/W3014612362","https://openalex.org/W3126568597","https://openalex.org/W3148310441","https://openalex.org/W4312036204","https://openalex.org/W4318464550","https://openalex.org/W4361801464","https://openalex.org/W4380451129","https://openalex.org/W4396640917","https://openalex.org/W4396800928","https://openalex.org/W4403183222","https://openalex.org/W4403546126","https://openalex.org/W4405788197"],"related_works":[],"abstract_inverted_index":{"Supernumerary":[0],"robotic":[1,59],"limbs":[2],"(SRLs)":[3],"can":[4,108],"assist":[5],"humans":[6,38],"in":[7,13,113,117,148],"achieving":[8,178],"efficient":[9],"and":[10,26,69,103,127,136,143,157,165,183,215,217],"comfortable":[11],"work":[12],"daily":[14,230],"life":[15,231],"or":[16],"industrial":[17],"assembly":[18],"scenarios,":[19],"requiring":[20],"SRLs":[21,46],"to":[22,28,39,48,115,223],"switch":[23],"between":[24],"rigidity":[25],"flexibility":[27],"perform":[29],"compliant":[30],"movements":[31],"while":[32,85],"also":[33],"providing":[34],"stable":[35],"support":[36],"for":[37,162,185,229],"reduce":[40],"fatigue":[41],"from":[42],"prolonged":[43],"standing,":[44],"existing":[45],"struggle":[47],"achieve":[49],"this":[50,53],"transition.":[51],"In":[52],"study,":[54],"a":[55,121,128,158],"variable":[56],"stiffness":[57,70,87,99,112,129,144,166,184],"supernumerary":[58],"limb":[60],"(VSSRL)":[61],"is":[62,80,88,170,194,207,221],"implemented,":[63],"capable":[64],"of":[65,77,100,124,134,145,167,181,190,204,213,227],"adjusting":[66],"its":[67,86,111],"position":[68,76,164,182],"through":[71,196],"pneumatic-tendon":[72,91],"coupled":[73,92],"actuation.":[74],"The":[75,188],"the":[78,97,101,104,125,132,141,146,168,186,191,201,205,211,219],"VSSRL":[79,126,147,169,206,220],"accurately":[81],"modulated":[82],"by":[83,90],"tendons,":[84],"controlled":[89],"actuation,":[93],"tendons":[94,137,214],"significantly":[95,208],"increase":[96],"overall":[98],"VSSRL,":[102],"fiber-reinforced":[105],"actuators":[106],"(FRAs)":[107],"dynamically":[109],"adjust":[110],"response":[114],"changes":[116],"dynamic":[118],"loads.":[119],"Furthermore,":[120],"kinematic":[122],"model":[123,130],"under":[131,210],"coupling":[133],"FRAs":[135],"are":[138,151],"developed.":[139],"Then,":[140],"trajectory":[142],"task":[149],"execution":[150],"assigned":[152],"based":[153,172],"on":[154,173],"human":[155],"motion,":[156],"multi-objective":[159],"control":[160,180,192],"system":[161,193],"both":[163],"designed":[171],"reinforcement":[174],"learning":[175],"(RL)":[176],"algorithm,":[177],"collaborative":[179],"VSSRL.":[187],"accuracy":[189],"validated":[195],"experiments,":[197],"which":[198],"demonstrate":[199],"that":[200,218],"load":[202],"capacity":[203],"enhanced":[209],"action":[212],"FRAs,":[216],"able":[222],"provide":[224],"various":[225],"modes":[226],"assistance":[228],"activities.":[232]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
