Soft Wearable Robots: Development Status and Technical Challenges

Sensors, Год журнала: 2022, Номер 22(19), С. 7584 - 7584

Опубликована: Окт. 6, 2022

In recent years, more and research has begun to focus on the flexible lightweight design of wearable robots. During this process, many novel concepts achievements have been continuously made shown public, while new problems emerged at same time, which need be solved. paper, we give an overview development status soft robots for human movement assistance. On basis a clear definition, perform system classification according target assisted joint attempt describe overall prototype level in related fields. Additionally, it is necessary sort out latest progress key technologies such as structure, actuation, control evaluation, thereby analyzing ideas basic characteristics them. Finally, discuss possible application fields, propose main challenges valuable direction.

Язык: Английский

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Evaluation of the physiological benefits of a passive back-support exoskeleton during lifting and working in forward leaning postures

Journal of Biomechanics, Год журнала: 2023, Номер 149, С. 111489 - 111489

Опубликована: Фев. 13, 2023

Musculoskeletal disorders affecting the back are highly prevalent in fields of occupation involving repetitive lifting and working forward leaning postures. Back-support exoskeletons developed to relieve workers physically demanding occupations. This study investigates physiological effects a lightweight exoskeleton which provides support through textile springs worn on back. We hypothesized that wearing such passive back-support reduces muscle activity hip muscles, while not influencing abdominal movement kinematics during typical occupational tasks. collected electromyography data from main muscles as well whole body via optical motion tracking set relevant weight tasks corresponding work conditions. In our sample 30 healthy volunteers, significantly reduced activity, with reductions up 25.59% 20.52% (Erector Spinae at thoracic lumbar level Quadratus Lumborum). Simultaneously, no changes knee range were observed. The stretch correlated mass index chest circumference wearer, depended posture, but lifted load. LiftSuit relieved typically straining tasks, biomechanical parameters preserved. suggests lift-support can be safely used

Язык: Английский

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A method to quantify the reduction of back and hip muscle fatigue of lift-support exoskeletons

Wearable Technologies, Год журнала: 2023, Номер 4

Опубликована: Янв. 1, 2023

Abstract Cumulative back muscle fatigue plays a role in the occurrence of low-back injuries occupations that require repetitive lifting heavy loads and working forward leaning postures. Lift-support exoskeletons have potential to reduce hip activity, thereby delaying onset these muscles. Therefore, are being considered potentially important tool further workload-related injuries. However, today no standards been established on how benchmark support level lift-support exoskeletons. This work proposes an experimental protocol quantify instant changes activity development while maintaining static posture. It then applies experimentally assess effect provided by commercially available exoskeleton, LiftSuit 2.0 (Auxivo AG, Schwerzenbach, Switzerland), user. In sample 14 participants, amplitude muscles $ \left({\Delta}_{\mathrm{erectorspinae},\mathrm{thoracic}}\hskip0.35em =\hskip0.35em 33.0\%,{\Delta}_{\mathrm{erectorspinae},\mathrm{lumbar}}\hskip0.35em 13.2\%\right) ( {\Delta}_{\mathrm{gluteusmaximus}}\hskip0.35em 16.3\% ) was significantly reduced. Wearing exoskeleton reduced amount developed during task {\Delta}_{\mathrm{quadratuslumborum}}\hskip0.35em 10.1\%,{\Delta}_{\mathrm{gluteusmaximus}}\hskip0.35em 44.0\% ). Changes can be objectively recorded correlated with relevant for users: time performed perceived fatigue. Thus, including such measures standardized benchmarking procedures will help benefits occupational use.

Язык: Английский

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Machine Learning-Based Fatigue Level Prediction for Exoskeleton-Assisted Trunk Flexion Tasks Using Wearable Sensors

Applied Sciences, Год журнала: 2024, Номер 14(11), С. 4563 - 4563

Опубликована: Май 26, 2024

Monitoring physical demands during task execution with exoskeletons can be instrumental in understanding their suitability for industrial tasks. This study aimed at developing a fatigue level prediction model Back-Support Industrial Exoskeletons (BSIEs) using wearable sensors. Fourteen participants performed set of intermittent trunk-flexion cycles consisting static, sustained, and dynamic activities, until they reached medium-high levels, while wearing BSIEs. Three classification algorithms, Support Vector Machine (SVM), Random Forest (RF), XGBoost (XGB), were implemented to predict perceived the back leg regions features from four wireless Electromyography (EMG) sensors integrated Inertial Measurement Units (IMUs). We examined best grouping sensor combinations by comparing performance. The findings showed performance binary 95% (2 EMG + IMU sensors) 82% (single sensor) accuracy, respectively. Tertiary required setups both measures perform 79% 67% efforts presented our article demonstrate feasibility an accessible detection system, which beneficial objective assessment, design selection, implementation BSIEs real-world scenarios.

Язык: Английский

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Method for Determining Displacement and Characterizing Spatial Kinematic Misalignment in a Rigid Exoskeleton

Machines, Год журнала: 2025, Номер 13(4), С. 284 - 284

Опубликована: Март 30, 2025

With the increasing use of exoskeletons to reduce physical strain in industrial applications, precise adaptation user’s anthropometry is crucial for effective force transmission and user acceptance. This paper presents a method that compensates axial misalignment between human joint exoskeleton’s axes rotation optimize anthropometric alignment. It further quantifies resulting displacement, providing instructional recommendations manual refinement initial kinematic configuration. The thereby represents first step toward comprehensive investigation offset’s influence on an fit. mathematical derivation was described using rigid shoulder exoskeleton “Lucy”. validation increasingly complex mock-ups showed average calculated error 0.84mm (SD 0.24mm) 2D 7.97mm 1.30mm) 3D, where errors decreased with smaller offsets. A preliminary field study three participants revealed improved alignment but indicated limitations structural adjustment possibilities, highlighting need modifications. Building these findings, subsequent studies will involve factors such as migration instantaneous center during motion, soft tissue deformations, greater population diversity.

Язык: Английский

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Effects of a Passive Back-Support Exosuit on Erector Spinae and Abdominal Muscle Activity During Short-Duration, Asymmetric Trunk Posture Maintenance Tasks

Human Factors The Journal of the Human Factors and Ergonomics Society, Год журнала: 2023, Номер 66(7), С. 1830 - 1843

Опубликована: Авг. 27, 2023

Objective To examine the effects of asymmetry and lower extremity mobility restrictions on effectiveness a passive back-support exosuit in short-duration, static trunk flexion postures. Background The exoskeletons/suits for sagittally symmetric posture maintenance has been investigated, but there limited study asymmetric postures or motion restriction. Method Sixteen participants held involving (20°, 40°, 60°), (0°, 30°), (Free, Restricted) 3 s. Participants these with without an while erector spinae abdominal muscle activities were collected. Results There no significant interactions between restrictions, indicating factors at reducing activity. was found to be effective activity regardless (average 21%, from 11.2% MVC 8.8% MVC). magnitude 60° similar that seen 20° exosuit. Conclusion consistently provided biomechanical benefit through reduced activation muscles neither nor restriction influenced this effectiveness. Application Trunk can reduce understanding how characteristics assumed impact responses may help target tasks wherein devices effective.

Язык: Английский

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Age and gender differences in the perception and use of soft vs. rigid exoskeletons for manual material handling

Ergonomics, Год журнала: 2024, Номер 67(11), С. 1453 - 1470

Опубликована: Апрель 13, 2024

We investigated age and gender differences in the perception use of soft (Apex) vs. rigid (Paexo Back) passive back-support exoskeletons (BSE) for repetitive lifting lowering. A gender-balanced sample 20 young (18–30 years) 16 old (45–60 individuals were recruited. In first session, participants' self-reported maximum acceptable load (MAL) was assessed using a psychophysical approach. Changes muscle activity kinematics due to BSE lifting/lowering tasks also assessed. Overall, both BSEs increased MAL (by ∼7%), reduced trunk extensor across all groups ∼7–18%), compared control condition. Both promoted more squatting postures, quadriceps ∼34%) abdominal during asymmetric 5–20%). Some significant, particularly when Apex. Future work should include diverse user studying willingness adopt characterising their consequent effects on body.

Язык: Английский

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Assessing the Short-Term Effects of Dual Back-Support Exoskeleton within Logistics Operations

Safety, Год журнала: 2024, Номер 10(3), С. 56 - 56

Опубликована: Июнь 28, 2024

Logistics activities involve significant risk factors for the development of work-related musculoskeletal disorders (WMSD), particularly low back pain. Exoskeletons have emerged as potential solutions to mitigate these risks. This study assesses short-term effects dual passive back-support exoskeletons (Auxivo and Htrius) on WMSD in logistics operations. Two workstations were evaluated using self-report ratings, postural assessment, surface electromyography (EMG). The results indicate that both provided relief support during tasks, with Htrius showing a slight advantage. reduced perceived exertion, especially trunk flexion improved posture, tasks involving manual lifting loads at lower height levels. While variations muscular activity observed, exoskeleton showed trend reducing lumbar muscle activity. Overall, demonstrated promise improving workers’ comfort, safety, efficiency, potentially fatigue. However, individual preferences workplace-specific characteristics should be considered when selecting models. Future research explore different loads, genders, EMG muscles further enhance understanding application occupational contexts.

Язык: Английский

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Influence of a passive exoskeleton on kinematics, joint moments, and self-reported ratings during a lifting task

Journal of Biomechanics, Год журнала: 2023, Номер 162, С. 111886 - 111886

Опубликована: Ноя. 30, 2023

Язык: Английский

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Benchmarking commercially available soft and rigid passive back exoskeletons for an industrial workplace

Wearable Technologies, Год журнала: 2024, Номер 5

Опубликована: Янв. 1, 2024

Abstract Low-back pain is a common occupational hazard for industrial workers. Several studies show the advantages of using rigid and soft back-support passive exoskeletons exosuits (exos) to reduce low-back loading risk injury. However, benefits these exos have been shown be task-specific. Therefore, in this study, we developed benchmarking approach assess an workplace at Hankamp Gears B.V. We assessed two (Laevo Flex, Paexo back) (Auxivo Liftsuit 1.0, Darwing Hakobelude) tasks resembling workplace. measured assistive moment provided by each exo their respective influence on muscle activity as well user’s perception comfort exertion. Ten participants performed four lifting ( Static hold, Asymmetric , Squat Stoop ), while electromyography subjective measures were collected. The largest assistance during Dynamic tasks. Reductions erector spinae seen task-specific, with larger reductions exos. Overall, Laevo Flex offered good balance between moments, activity, user perceived Thus, recommend intended use This will hopefully result better adoption help pain.

Язык: Английский

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