This paper presents a mobile supernumerary robotic approach to physical assistance in human-robot conjoined actions. The study starts with a description of the SUPER-MAN concept. The idea is to develop and utilize mobile collaborative systems that can follow human loco-manipulation commands to perform industrial tasks through three main components: i) an admittance-type interface, ii) a human-robot interaction controller, and iii) a supernumerary robotic body. Next, we present two possible implementations within the framework from theoretical and hardware perspectives. The first system is called MOCA-MAN and comprises a redundant torque-controlled robotic arm and an omnidirectional mobile platform. The second one is called Kairos-MAN, formed by a high-payload 6-DoF velocity-controlled robotic arm and an omnidirectional mobile platform. The systems share the same admittance interface, through which user wrenches are translated to loco-manipulation commands generated by whole-body controllers of each system. Besides, a thorough user study with multiple and cross-gender subjects is presented to reveal the quantitative performance of the two systems in effort-demanding and dexterous tasks. Moreover, we provide qualitative results from the NASA-TLX questionnaire to demonstrate the SUPER-MAN approach's potential and its acceptability from the users' viewpoint.

翻译：本文提出了一种移动式附加机器人方法，用于人机协同操作中的物理辅助。研究首先阐述了SUPER-MAN概念，其核心思想是通过三个主要组件开发并利用能够跟随人类移动-操作指令执行工业任务的移动协作系统：i) 导纳型接口，ii) 人机交互控制器，以及iii) 附加机器人肢体。随后，我们从理论和硬件角度提出了该框架内的两种实现方案。第一种系统称为MOCA-MAN，由冗余力矩控制机械臂与全向移动平台构成；第二种系统称为Kairos-MAN，由高负载6自由度速度控制机械臂与全向移动平台组成。两系统共享相同的导纳接口，用户施加的力/力矩通过该接口被转换为由各自全身控制器生成的移动-操作指令。此外，我们开展了包含多组跨性别受试者的完整用户研究，揭示了两种系统在重体力与灵巧任务中的量化性能表现。同时，通过NASA-TLX问卷获取的定性结果，从用户视角验证了SUPER-MAN方法的可行性与接受度。