reconfigurablelimb

A reconfigurable limb is a robotic or prosthetic limb built from modular units that can change its overall geometry and kinematic chain by reassembling modules, exchanging joints, or adjusting segment lengths. This capability allows the limb to adapt its dexterity, reach, and payload to different tasks without replacement.

Design typically relies on standardized interfaces between modules, such as mechanical pins, quick-connects, and compatible actuators. Modules may include rigid link segments, configurable joints, tendons, and sensors. Actuation can be electric motors, hydraulic or pneumatic cylinders, or smart soft actuators. Some systems use magnetic or snap-fit connections to enable quick reconfiguration, while others rely on deliberate human intervention or autonomous self-assembly.

Control and planning require knowledge of the limb's current configuration, kinematic models for each possible arrangement, and mechanisms to switch between models when modules are rearranged. Reconfiguration planning can be automatic or operator-guided, and calibration is needed after changes to maintain accurate kinematics.

Applications include prosthetic devices that adjust length and finger arrangement for grip styles, industrial robots that switch between manipulation and inspection tasks, and exploration or disaster-response robots that adapt leg or arm geometry to terrain. Benefits include increased versatility, longer service life, and reduced inventory of specialized single-purpose devices; drawbacks include mechanical complexity, added weight, potential reliability issues, and longer reconfiguration times.

Research areas focus on standardizing interfaces, developing fast and reliable reconfiguration algorithms, integrating sensing for automatic configuration, and ensuring safety during transitions between shapes.