Extending Human Capabilities with Sensorimotor Augmentation and Physical Metaverse

Extending human motor capabilities through the integration of artificial devices represents a central challenge in human-robot interaction and assistive robotics. In recent years, human sensorimotor augmentation has emerged as a promising approach to enhance motor function by introducing supernumerary robotic limbs that provide additional degrees of freedom operating alongside the natural human body. Effective sensorimotor augmentation requires not only reliable control strategies, but also careful consideration of perception and of how robotic systems are integrated within the human sensorimotor loop. This Thesis investigates human-robot sensorimotor augmentation from multiple complementary perspectives. First, practical assistive applications are explored, demonstrating how wearable and grounded supernumerary robotic limbs can support individuals with motor impairments by exploiting residual motion capabilities. Second, control strategies based on sensorimotor redundancy and null space exploitation are proposed and compared, enabling intuitive and flexible control of additional degrees of freedom without interfering with natural task execution. Third, a quantitative framework based on physiological responses is introduced to assess the sense of control and trust during interaction with robotic systems operating in proximity to the human body. The results highlight the importance of aligning robotic behavior with human perception to achieve effective and acceptable sensorimotor augmentation. Finally, the concept of sensorimotor augmentation is extended beyond purely physical interaction through the exploration of the Physical Metaverse. By combining robotic systems, embodied avatars, and diminished reality techniques, this Thesis illustrates how physical manipulation, and social interaction can be preserved within shared digital environments. This perspective opens new possibilities for assistive technologies, enabling individuals with motor impairments not only to receive assistance, but also to actively interact with and support others at a distance. Overall, the presented work contributes to a unified view of sensorimotor augmentation as a paradigm focused on the integration of artificial degrees of freedom into human action and perception, across both physical and digitally mediated environments.