Kinematic Intrinsic Null-Space Motor Control for Human Bodily Augmentation

Nowadays, the centrality of the sensorimotor skills in humans has been largely overshadowed by the augmentation of cognitive abilities granted by technologies as smartphones. Our idea focuses on the enhancement of human sensorimotor capabilities obtained by allowing humans to directly control robotic extra limbs as body extensions. The strategy capitalises on human body redundancy to concurrently control natural and artificial limbs. To this end, we introduce an innovative control strategy based on the exploitation of the kinematic null-space to control an extra degree of actuation.