Carsten Mehring

A predictive coding framework for safe and versatile control of supernumerary robotic limbs

Supernumerary robotic limbs (SLs) have the potential to extend human sensorimotor capabilities by increasing effective degrees of freedom. However, current systems are designed for a single task and cannot flexibly coordinate with natural limbs (NLs). Here we propose a hierarchical control architecture for human–SL a...