Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance

Huo，Jiayu1,2; Wang，Jingran1,2; Guo，Yuqin2; Qiu，Wanghongjie2; Chen，Mingdong2; Asada，Harry3; Wan，Fang4; Song，Chaoyang2,5

2023

10.1002/aisy.202300245

Advanced Intelligent Systems   Impact Factor & Quartile

2640-4567

This study presents the design of an underwater superlimb as a wearable robot, providing divers with mobility assistance and freeing their hands for manipulating tools underwater. The wearable design features a thrust vectoring system with two 3D-printed, waterproofed modules. The module with adjustable connections and strapping holes is designed to enable reconfiguration for multiple purposes, including regular use as an underwater superlimb for divers, manually operated as a handheld glider for swimmers, combined with an amphibian, legged robot as a quadruped superlimb, and coupled as a dual-unit autonomous underwater vehicle for underwater navigation. The kinematics and dynamics of the prototype and all of its reconfigured modes are developed. A sliding-mode controller is also introduced to achieve stable simulation in PyBullet. Field tests further support the feasibility of the underwater superlimb when worn on a test diver in a swimming pool. As the first underwater superlimb presented in the literature, this study opens new doors for supernumerary robotic limbs in underwater scenarios with multifunctional reconfiguration.

reconfigurable design supernumerary robotic limbs underwater robots underwater superlimbs

SCI

English

First ; Corresponding

Science, Technology, and Innovation Commission of Shenzhen Municipality["ZDSYS20220527171403009","JCYJ20220818100417038","20200925155748006"] ; National Natural Science Foundation of China[62206119] ; Southern University of Science and Technology Internal Review Board[20230072]

Automation & Control Systems ; Computer Science ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics

WOS:001051043500001

WILEY

2-s2.0-85164444518

Scopus

1.Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing,Southern University of Science and Technology,Shenzhen,Guangdong,518055,China
2.Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,Guangdong,518055,China
3.Department of Mechanical Engineering,Massachusetts Institute of Technology,Cambridge,02139,United States
4.School of Design,Southern University of Science and Technology,Shenzhen,Guangdong,518055,China
5.Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Southern University of Science and Technology,Shenzhen,Guangdong,518055,China

Huo，Jiayu,Wang，Jingran,Guo，Yuqin,et al. Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance[J]. Advanced Intelligent Systems,2023.

Huo，Jiayu.,Wang，Jingran.,Guo，Yuqin.,Qiu，Wanghongjie.,Chen，Mingdong.,...&Song，Chaoyang.(2023).Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance.Advanced Intelligent Systems.

Huo，Jiayu,et al."Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance".Advanced Intelligent Systems (2023).