{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T07:25:54Z","timestamp":1773041154383,"version":"3.50.1"},"reference-count":28,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2024,5,10]],"date-time":"2024-05-10T00:00:00Z","timestamp":1715299200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2024,5,10]],"date-time":"2024-05-10T00:00:00Z","timestamp":1715299200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation","doi-asserted-by":"crossref","award":["52205018"],"award-info":[{"award-number":["52205018"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["BK20220894"],"award-info":[{"award-number":["BK20220894"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]},{"name":"State Key Laboratory of Robotics and Systems","award":["SKLRS-2023-KF-25"],"award-info":[{"award-number":["SKLRS-2023-KF-25"]}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["NS2022048"],"award-info":[{"award-number":["NS2022048"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Nanjing Overseas Scholars Science and Technology Innovation Project","award":["YQR22044"],"award-info":[{"award-number":["YQR22044"]}]},{"name":"Scientific Research Foundation of Nanjing University of Aeronautics and Astronautics","award":["YAH21004"],"award-info":[{"award-number":["YAH21004"]}]},{"DOI":"10.13039\/501100011259","name":"State Key Laboratory of Robotics","doi-asserted-by":"publisher","award":["2023-O16"],"award-info":[{"award-number":["2023-O16"]}],"id":[{"id":"10.13039\/501100011259","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Supernumerary robotic limbs (SRLs) have great potentials to assist human in daily activities and industrial manufacturing by providing extra limbs. However, current SRLs have heavy and rigid structures that may threaten the operator safety; moreover, their limited degrees of freedom and movement modes are not suitable for complicated tasks. Although soft SRLs have exhibited advantages in structure compliance and flexible manipulation to address these problems, it remains challenging to accurately design the geometrical parameters to adapt to specific tasks, and accurate control is also required to realize the expected movement. Inspired by the biological characteristics of the octopus arm muscle fibers, fiber-reinforced actuators (FRAs) are employed to realize various motions, including extension, expansion, bending, and twisting; multiple FRAs are assembled to implement the SRL to achieve complex movement trajectories. The analytic model of the FRA is established to reveal the relationship between its deformation and geometrical parameters as well as input air pressures, which is validated with finite element simulation. Trajectory and payload optimization algorithms are proposed to optimally design the SRL and its control strategy with meeting the prescribed requirement of movement trajectory and payload capacity. Finally, experiments are conducted to validate the proposed robotic system.<\/jats:p>","DOI":"10.1007\/s10846-024-02102-6","type":"journal-article","created":{"date-parts":[[2024,5,10]],"date-time":"2024-05-10T12:01:31Z","timestamp":1715342491000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["A Soft Supernumerary Robotic Limb with Fiber-Reinforced Actuators"],"prefix":"10.1007","volume":"110","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9517-1042","authenticated-orcid":false,"given":"Jiajun","family":"Xu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tianyi","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kaizhen","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mengcheng","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuyan","family":"Hou","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Youfu","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,5,10]]},"reference":[{"issue":"5","key":"2102_CR1","doi-asserted-by":"publisher","first-page":"929","DOI":"10.1109\/JAS.2021.1003961","volume":"8","author":"Y Tong","year":"2021","unstructured":"Tong, Y., Liu, J.: Review of research and development of supernumerary robotic limbs. IEEE\/CAA J Automatica Sinica 8(5), 929\u2013952 (2021)","journal-title":"IEEE\/CAA J Automatica Sinica"},{"key":"2102_CR2","doi-asserted-by":"crossref","unstructured":"Parietti, F., & Asada, H. H. (2014). Supernumerary robotic limbs for aircraft fuselage assembly: body stabilization and guidance by bracing. In\u00a02014 IEEE International Conference on Robotics and Automation (ICRA)\u00a0(pp. 1176\u20131183).","DOI":"10.1109\/ICRA.2014.6907002"},{"issue":"2","key":"2102_CR3","doi-asserted-by":"publisher","first-page":"4125","DOI":"10.1109\/LRA.2021.3067850","volume":"6","author":"J Luo","year":"2021","unstructured":"Luo, J., Gong, Z., Su, Y., Ruan, L., Zhao, Y., Asada, H.H., Fu, C.: Modeling and balance control of supernumerary robotic limb for overhead tasks. IEEE Robot Autom Lett 6(2), 4125\u20134132 (2021)","journal-title":"IEEE Robot Autom Lett"},{"key":"2102_CR4","doi-asserted-by":"publisher","first-page":"6814","DOI":"10.1109\/ACCESS.2021.3134056","volume":"10","author":"PH Daniel","year":"2021","unstructured":"Daniel, P.H., Fu, C., Asada, H.H.: Musculoskeletal load analysis for the design and control of a wearable robot bracing the human body while crawling on a floor. IEEE Access 10, 6814\u20136829 (2021)","journal-title":"IEEE Access"},{"issue":"4","key":"2102_CR5","doi-asserted-by":"publisher","first-page":"5143","DOI":"10.1109\/LRA.2020.3005629","volume":"5","author":"C Khazoom","year":"2020","unstructured":"Khazoom, C., Caillouette, P., Girard, A., Plante, J.S.: A supernumerary robotic leg powered by magnetorheological actuators to assist human locomotion. IEEE Robot Autom Lett 5(4), 5143\u20135150 (2020)","journal-title":"IEEE Robot Autom Lett"},{"issue":"2","key":"2102_CR6","doi-asserted-by":"publisher","first-page":"2546","DOI":"10.1109\/LRA.2020.2967327","volume":"5","author":"C V\u00e9ronneau","year":"2020","unstructured":"V\u00e9ronneau, C., Denis, J., Lebel, L.P., Denninger, M., Blanchard, V., Girard, A., Plante, J.S.: Multifunctional remotely actuated 3-dof supernumerary robotic arm based on magnetorheological clutches and hydrostatic transmission lines. IEEE Robot Autom Lett 5(2), 2546\u20132553 (2020)","journal-title":"IEEE Robot Autom Lett"},{"issue":"12","key":"2102_CR7","doi-asserted-by":"publisher","first-page":"1700016","DOI":"10.1002\/adem.201700016","volume":"19","author":"P Polygerinos","year":"2017","unstructured":"Polygerinos, P., Correll, N., Morin, S.A., Mosadegh, B., Onal, C.D., Petersen, K., Shepherd, R.F.: Soft robotics: Review of fluid-driven intrinsically soft devices; manufacturing, sensing, control, and applications in human-robot interaction. Adv Eng Mater. 19(12), 1700016 (2017)","journal-title":"Adv Eng Mater."},{"issue":"1","key":"2102_CR8","doi-asserted-by":"publisher","first-page":"38","DOI":"10.1089\/soro.2018.0065","volume":"6","author":"PH Nguyen","year":"2019","unstructured":"Nguyen, P.H., Sparks, C., Nuthi, S.G., Vale, N.M., Polygerinos, P.: Soft poly-limbs: Toward a new paradigm of mobile manipulation for daily living tasks. Soft Rob. 6(1), 38\u201353 (2019)","journal-title":"Soft Rob."},{"key":"2102_CR9","doi-asserted-by":"crossref","unstructured":"Nguyen, P. H., Mohd, I. I., Sparks, C., Arellano, F. L., Zhang, W., & Polygerinos, P. (2019). Fabric soft poly-limbs for physical assistance of daily living tasks. In\u00a02019 International Conference on Robotics and Automation (ICRA)\u00a0(pp. 8429\u20138435).","DOI":"10.1109\/ICRA.2019.8794294"},{"issue":"3","key":"2102_CR10","doi-asserted-by":"publisher","first-page":"2702","DOI":"10.1109\/LRA.2018.2831723","volume":"3","author":"X Liang","year":"2018","unstructured":"Liang, X., Cheong, H., Sun, Y., Guo, J., Chui, C.K., Yeow, C.H.: Design, characterization, and implementation of a two-DOF fabric-based soft robotic arm. IEEE Robot Autom Lett 3(3), 2702\u20132709 (2018)","journal-title":"IEEE Robot Autom Lett"},{"issue":"10","key":"2102_CR11","doi-asserted-by":"publisher","first-page":"831","DOI":"10.1002\/jmor.10548","volume":"268","author":"WM Kier","year":"2007","unstructured":"Kier, W.M., Stella, M.P.: The arrangement and function of octopus arm musculature and connective tissue. J Morphol. 268(10), 831\u2013843 (2007)","journal-title":"J Morphol."},{"issue":"1","key":"2102_CR12","doi-asserted-by":"publisher","first-page":"26","DOI":"10.1089\/soro.2015.0001","volume":"2","author":"F Connolly","year":"2015","unstructured":"Connolly, F., Polygerinos, P., Walsh, C.J., Bertoldi, K.: Mechanical programming of soft actuators by varying fiber angle. Soft Rob. 2(1), 26\u201332 (2015)","journal-title":"Soft Rob."},{"issue":"2","key":"2102_CR13","doi-asserted-by":"publisher","first-page":"530","DOI":"10.1007\/s42235-022-00273-2","volume":"20","author":"G Chen","year":"2023","unstructured":"Chen, G., Lin, T., Lodewijks, G., Ji, A.: Design of an active flexible spine for wall climbing robot using pneumatic soft actuators. J. Bionic Eng. 20(2), 530\u2013542 (2023)","journal-title":"J. Bionic Eng."},{"issue":"13","key":"2102_CR14","doi-asserted-by":"publisher","first-page":"29","DOI":"10.3901\/JME.2017.13.029","volume":"53","author":"S Wei","year":"2017","unstructured":"Wei, S., Wang, T., Gu, G.: Design of a soft pneumatic robotic gripper based on fiber-reinforced actuator. J Mech Eng. 53(13), 29\u201338 (2017)","journal-title":"J Mech Eng."},{"issue":"2","key":"2102_CR15","doi-asserted-by":"publisher","first-page":"233","DOI":"10.1089\/soro.2019.0054","volume":"7","author":"H Feng","year":"2020","unstructured":"Feng, H., Sun, Y., Todd, P.A., Lee, H.P.: Body wave generation for anguilliform locomotion using a fiber-reinforced soft fluidic elastomer actuator array toward the development of the eel-inspired underwater soft robot. Soft Rob. 7(2), 233\u2013250 (2020)","journal-title":"Soft Rob."},{"key":"2102_CR16","doi-asserted-by":"publisher","unstructured":"Roche, E. T., Horvath, M. A., Wamala, I., Alazmani, A., Song, S. E., Whyte, W., ... & Walsh, C. J. (2017). Soft robotic sleeve supports heart function.\u00a0Sci Translational Med.,\u00a09(373), eaaf3925. https:\/\/doi.org\/10.1126\/scitranslmed.aaf3925.","DOI":"10.1126\/scitranslmed.aaf3925"},{"issue":"5","key":"2102_CR17","doi-asserted-by":"publisher","first-page":"691","DOI":"10.1007\/s11370-021-00388-1","volume":"14","author":"A Ahmadi","year":"2021","unstructured":"Ahmadi, A., Asgari, M.: Novel bio-inspired variable stiffness soft actuator via fiber-reinforced dielectric elastomer, inspired by Octopus bimaculoides. Intel Serv Robot. 14(5), 691\u2013705 (2021)","journal-title":"Intel Serv Robot."},{"issue":"1","key":"2102_CR18","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/4\/1\/015006","volume":"4","author":"C Laschi","year":"2009","unstructured":"Laschi, C., Mazzolai, B., Mattoli, V., Cianchetti, M., Dario, P.: Design of a biomimetic robotic octopus arm. Bioinspir Biomim. 4(1), 015006 (2009)","journal-title":"Bioinspir Biomim."},{"issue":"2","key":"2102_CR19","doi-asserted-by":"publisher","DOI":"10.1115\/1.4039101","volume":"10","author":"A Sedal","year":"2018","unstructured":"Sedal, A., Bruder, D., Bishop-Moser, J., Vasudevan, R., Kota, S.: A continuum model for fiber-reinforced soft robot actuators. J. Mech. Robot. 10(2), 024501 (2018)","journal-title":"J. Mech. Robot."},{"key":"2102_CR20","unstructured":"Ogden, R. W. (1997).\u00a0Non-linear elastic deformations. Courier Corporation."},{"issue":"1","key":"2102_CR21","doi-asserted-by":"publisher","first-page":"51","DOI":"10.1073\/pnas.1615140114","volume":"114","author":"F Connolly","year":"2017","unstructured":"Connolly, F., Walsh, C.J., Bertoldi, K.: Automatic design of fiber-reinforced soft actuators for trajectory matching. Proc Natl Acad Sci. 114(1), 51\u201356 (2017)","journal-title":"Proc Natl Acad Sci."},{"issue":"3","key":"2102_CR22","doi-asserted-by":"publisher","first-page":"778","DOI":"10.1109\/TRO.2015.2428504","volume":"31","author":"P Polygerinos","year":"2015","unstructured":"Polygerinos, P., Wang, Z., Overvelde, J.T., Galloway, K.C., Wood, R.J., Bertoldi, K., Walsh, C.J.: Modeling of soft fiber-reinforced bending actuators. IEEE Trans Rob. 31(3), 778\u2013789 (2015)","journal-title":"IEEE Trans Rob."},{"issue":"5","key":"2102_CR23","doi-asserted-by":"publisher","first-page":"754","DOI":"10.5254\/1.3538343","volume":"66","author":"OH Yeoh","year":"1993","unstructured":"Yeoh, O.H.: Some forms of the strain energy function for rubber. Rubber Chem Technol. 66(5), 754\u2013771 (1993)","journal-title":"Rubber Chem Technol."},{"issue":"4","key":"2102_CR24","doi-asserted-by":"publisher","first-page":"3999","DOI":"10.1109\/LRA.2018.2859441","volume":"3","author":"D Bruder","year":"2018","unstructured":"Bruder, D., Sedal, A., Vasudevan, R., Remy, C.D.: Force generation by parallel combinations of fiber-reinforced fluid-driven actuators. IEEE Robot Autom Lett. 3(4), 3999\u20134006 (2018)","journal-title":"IEEE Robot Autom Lett."},{"key":"2102_CR25","doi-asserted-by":"publisher","first-page":"447","DOI":"10.1016\/j.apm.2020.11.012","volume":"92","author":"W Zhao","year":"2021","unstructured":"Zhao, W.: A Broyden\u2013Fletcher\u2013Goldfarb\u2013Shanno algorithm for reliability-based design optimization. Appl Math Model. 92, 447\u2013465 (2021)","journal-title":"Appl Math Model."},{"key":"2102_CR26","volume":"193","author":"S Ningning","year":"2023","unstructured":"Ningning, S., Mengru, Z., Fei, L., Ziyun, K., Jian, Z., Haijun, P.: Dynamic research on winding and capturing of tensegrity flexible manipulator. Mech Mach Theory 193, 105554 (2023)","journal-title":"Mech Mach Theory"},{"issue":"1","key":"2102_CR27","doi-asserted-by":"publisher","first-page":"17","DOI":"10.1007\/BF00934841","volume":"32","author":"A Evers","year":"1980","unstructured":"Evers, A.: Sensitivity analysis in dynamic optimization. J. Optim. Theory Appl. 32(1), 17\u201337 (1980)","journal-title":"J. Optim. Theory Appl."},{"key":"2102_CR28","doi-asserted-by":"crossref","unstructured":"AlAttar, A., Hmida, I. B., Renda, F., & Kormushev, P. (2023). Kinematic-model-free tip position control of reconfigurable and growing soft continuum robots. IEEE Int Conf Soft Robot., 1\u20137.","DOI":"10.1109\/RoboSoft55895.2023.10121994"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02102-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-024-02102-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02102-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,7,18]],"date-time":"2024-07-18T10:14:43Z","timestamp":1721297683000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-024-02102-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,5,10]]},"references-count":28,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2024,6]]}},"alternative-id":["2102"],"URL":"https:\/\/doi.org\/10.1007\/s10846-024-02102-6","relation":{},"ISSN":["1573-0409"],"issn-type":[{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,5,10]]},"assertion":[{"value":"6 December 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 April 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 May 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"No conflicts of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest\/ Competing interests."}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Not applicable.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}],"article-number":"71"}}