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The emergence of robot-based body augmentation promises exciting innovationsthat will inform robotics, human-machine interaction, and wearable electronics.Even though augmentative devices like extra robotic arms and fingers in manyways build on restorative technologies, they introduce unique challenges forbidirectional human-machine collaboration. Can humans adapt and learn tooperate a new limb collaboratively with their biological limbs withoutsacrificing their physical abilities? To successfully achieve robotic bodyaugmentation, we need to ensure that by giving a person an additional(artificial) limb, we are not in fact trading off an existing (biological) one.In this manuscript, we introduce the "Neural Resource Allocation" problem,which distinguishes body augmentation from existing robotics paradigms such asteleoperation and prosthetics. We discuss how to allow the effective andeffortless voluntary control of augmentative devices without compromising thevoluntary control of the biological body. In reviewing the relevant literatureon extra robotic fingers and limbs we critically assess the range of potentialsolutions available for the "Neural Resource Allocation" problem. For thispurpose, we combine multiple perspectives from engineering and neurosciencewith considerations from human-machine interaction, sensory-motor integration,ethics and law. Altogether we aim to define common foundations and operatingprinciples for the successful implementation of motor augmentation.

Enhancing human bodies with extra robotic arms and fingers: The Neural Resource Allocation Problem