Lightweight active back exosuit reduces muscular effort during an hour-long order picking task

Communications Engineering, Год журнала: 2024, Номер 3(1)

Опубликована: Фев. 23, 2024

Abstract Occupational back exoskeletons and exosuits aim to reduce low injuries in the workplace. For these technologies be adopted, it is important that they provide biomechanical benefits wearer do not disrupt job performance. To address this challenge, here we developed a lightweight, soft, active exosuit can autonomously control virtual impedance apply differing assistance during lowering lifting. In usability tests, participants rated as easy learn use reported feeling confident while wearing it. an experiment involving hour-long order picking task demonstrated reduced peak median muscle activations by 18% 20%, respectively. Despite complexity of movements required, such walking, bending, navigating around obstacles lifting boxes from under rack, our controller impressive robustness with only 14 mistriggers out 9600 lifts (0.1%). The results research suggest technology has potential highly usable solution aid warehouse workers real-world settings.

Язык: Английский

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Design, Control, and Validation of a Novel Cable-Driven Series Elastic Actuation System for a Flexible and Portable Back-Support Exoskeleton

IEEE Transactions on Robotics, Год журнала: 2024, Номер 40, С. 2769 - 2790

Опубликована: Янв. 1, 2024

Various active back-support exoskeletons have been developed to assist manual materials handling work for low back injury prevention. Existing exoskeleton actuation either suffers from rigid transmission structure, or fails efficiently generate assistance via portable system with flexible transmissions. In this paper, a novel cable-driven series elastic (CSEA) is proposed realize and design safe, efficient, sufficient assistive torque output capability. The CSEA realizes based on cable an ergonomic human-exoskeleton interaction. Based torsion spring-support beam mechanism, it achieves efficient capability prevent high force demand resultant lumbar compression, assuring safe synergistic operation actuation. Meanwhile, mechanism enables the integrate actuator (SEA) operates multiple statuses leverage SEA advantages overcome its limitation. Dynamic model established system, unified controller designed stable, continuous, accurate control of despite discontinuous dynamics during status transition. efficacy closed-loop enable accurately delivering desired level verified bench tests human tests. Results that actuated can effectively reduce activity relevant muscles trunk flexion extension motions compared no case, validating successful application effective support effect.

Язык: Английский

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The effect of a soft active back support exosuit on trunk motion and thoracolumbar spine loading during squat and stoop lifts

Ergonomics, Год журнала: 2024, Номер unknown, С. 1 - 14

Опубликована: Фев. 22, 2024

Back support exosuits aim to reduce tissue demands and thereby risk of injury pain. However, biomechanical analyses soft active exosuit designs have been limited. The objective this study was evaluate the effect a back on trunk motion thoracolumbar spine loading in participants performing stoop squat lifts 6 10 kg crates, using participant-specific musculoskeletal models. did not change overall but affected lumbo-pelvic slightly, reduced peak compressive shear vertebral loads at some levels, although increased slightly others. This indicates that limited kinematic effects during lifting, can spinal depending level. These results hypothesis assist without limiting movement or negatively impacting skeletal implications for future design ergonomic intervention efforts.

Язык: Английский

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Evaluating adaptiveness of an active back exosuit for dynamic lifting and maximum range of motion

Ergonomics, Год журнала: 2023, Номер 67(5), С. 660 - 673

Опубликована: Июль 23, 2023

AbstractBack exosuits deliver mechanical assistance to reduce the risk of back injury, however, minimising restriction is critical for adoption. We developed adaptive impedance controller minimise while maintaining by modulating based on user's movement direction and nonlinear sine curves. The objective this study was compare active assistance, delivered a exosuit via our controller, three levels from passive elastics. Fifteen participants completed five experimental blocks (4 1 no-suit) consisting maximum flexion constrained lifting task. While higher stiffness elastic reduced extensor muscle activity 13%, it restricted range motion (RoM) 13°. approach did not restrict RoM reducing 15%, when lifting. This highlights an might improve usability circumventing assistance-restriction trade-off inherent approaches.Practitioner summary: demonstrates soft that delivers with can provide reductions in overall without impacts or perception discomfort.Keywords: Low painelectromyographybiomechanicsexosuitwearable robotics AcknowledgementsWe would like thank who volunteered as well Sarah Sullivan Wyss Institute Clinical Research team.Author contributionsConceptualisation: JC, MA, CJW; Development: JC; Protocol design: DAQ, DD, LA, Data collection: MA; analysis: DAQ; Funding acquisition: Writing – original draft: JMC; review & editing: JMC, CJWDisclosure statementCJW JC are inventors at least one patent application describing components described paper have been filed U.S. Patent Office Harvard University. University has entered into licencing agreement Verve Inc., which CJW, MA equity interest CJW board position. other authors report no conflict interest.Data availability statementAll data needed support conclusions manuscript included main text Supplementary Materials. Derived supporting findings available corresponding author C.J.W request.Additional informationFundingThis work supported NIH BACPAC under grant 1UH2AR076731-01 (CJW, LA); DOD W81XWH2010609 (CJW).

Язык: Английский

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Biomechanical assessment of a passive back exoskeleton using vision-based motion capture and virtual modeling

Automation in Construction, Год журнала: 2025, Номер 172, С. 106035 - 106035

Опубликована: Фев. 10, 2025

Язык: Английский

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Soft back exosuit controlled by neuro-mechanical modeling provides adaptive assistance while lifting unknown loads and reduces lumbosacral compression forces

Wearable Technologies, Год журнала: 2025, Номер 6

Опубликована: Янв. 1, 2025

State-of-the-art controllers for active back exosuits rely on body kinematics and state machines. These do not continuously target the lumbosacral compression forces or adapt to unknown external loads. The use of additional contact load detection could make such more adaptive; however, it can be impractical daily use. Here, we developed a novel neuro-mechanical model-based controller (NMBC) that uses personalized electromyography (EMG)-driven musculoskeletal (MSK) model estimate joint loading. NMBC provided adaptive, subject- load-specific assistive proportional estimates part biological moments through soft support exosuit. Without priori information, maximum cable were modulated across weights. Simultaneously, applied non-adaptive, kinematic-dependent, trunk inclination-based (TIBC). Both TIBC reduced mean peak biomechanical metrics, although all reductions significant. did modulate assistance showed larger than values, significant during erect stance cumulative compressive loads by 21% over multiple cycles in cohort 10 participants. Overall, targeted lifting without information being carried. This may facilitate adoption non-hindering wearable robotics real-life scenarios. As is informed an EMG-driven MSK model, possible tune timing NMBC-generated torque commands exosuit (delaying anticipating with respect torques) further reduction muscle fatigue.

Язык: Английский

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The perceptual and biomechanical effects of scaling back exosuit assistance to changing task demands

Scientific Reports, Год журнала: 2025, Номер 15(1)

Опубликована: Март 29, 2025

Back exoskeletons are gaining attention for preventing occupational back injuries, but they can disrupt movement, a burden that risks abandonment. Enhanced adaptability is proposed to mitigate burdens, perceptual benefits less known. This study investigates the and biomechanical impacts of SLACK suit (non-assistive) controller versus three controllers with varying adaptability: Weight-Direction-Angle adaptive (WDA-ADPT) scales assistance based on weight boxes using chest-mounted camera machine learning algorithm, movement direction, trunk flexion angle, standard Direction-Angle (DA-ADPT) Angle (A-ADPT) controllers. Fifteen participants performed variable (2, 8, 14 kg) box-transfer task. WDA-ADPT achieved highest score (88%) across survey categories reduced peak extensor (BE) muscle amplitudes by 10.1%. DA-ADPT had slightly lower (76%) BE reduction (8.5%). A-ADPT induced hip restriction, which could explain lowest (55%) despite providing largest reductions in activity (17.3%). Reduced scores DA were explained too much or little actual task demands. These findings underscore scaling demands improves perception device's suitability.

Язык: Английский

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Preference-based assistance optimization for lifting and lowering with a soft back exosuit

Science Advances, Год журнала: 2025, Номер 11(15)

Опубликована: Апрель 9, 2025

Wearable robotic devices have become increasingly prevalent in both occupational and rehabilitative settings, yet their widespread adoption remains inhibited by usability barriers related to comfort, restriction, noticeable functional benefits. Acknowledging the importance of user perception this context, study explores preference-based controller optimization for a back exosuit that assists lifting. Considering high mental metabolic effort discrete motor tasks impose, we used forced-choice Bayesian Optimization approach promotes sampling efficiency leveraging domain knowledge about just differences between assistance settings. Optimizing over two control parameters, preferred settings were consistent within uniquely different participants. We discovered overall, participants asymmetric parameter configurations with more lifting than lowering assistance, preferences sensitive anthropometrics. These findings highlight potential perceptually guided wearable devices, marking step toward pervasive these systems real world.

Язык: Английский

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Evaluation of the support provided by a soft passive exoskeleton in individuals with back pain

Applied Ergonomics, Год журнала: 2025, Номер 127, С. 104514 - 104514

Опубликована: Апрель 13, 2025

Physically straining occupations involving repetitive lifting and forward leaning increase risk of back pain. In response, exoskeletons have been developed to alleviate strain on muscles potentially prevent such people experiencing pain, these may also help decrease the pain-related activity limitations during work or leisure. This experimental study evaluated effects a soft passive exoskeleton muscle activity, acute kinesiophobia, movement kinematics. Individuals mild moderate pain (n=35) performed tasks, both with without support exoskeleton. Electromyography data were collected for trunk hip muscles, alongside spine kinematics, reported levels concerns regarding daily activities. Back reduced by up 35% (pExo<0.001) tasks 24% (pExo<0.001). Participants lumbar (p<0.01) decreased kinesiophobia (p<0.001) across all when supported Minimal influence kinematics was observed there no observable changes in abdominal co-activation compared support. These results indicate that LiftSuit, exoskeleton, can effectively reduce among individuals tasks. findings suggest be beneficial physically demanding workers

Язык: Английский

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Development of a Smart Textile-Driven Soft Spine Exosuit for Lifting Tasks in Industrial Applications

2022 IEEE/SICE International Symposium on System Integration (SII), Год журнала: 2024, Номер unknown, С. 13 - 18

Опубликована: Янв. 8, 2024

Work-related musculoskeletal disorders (WMSDs) are often caused by repetitive lifting, making them a significant concern in occupational health. Although wearable assist devices have become the norm for mitigating risk of back pain, most spinal still possess partially rigid structure that impacts user's comfort and flexibility. This paper addresses this issue presenting smart textile-actuated spine assistance robotic exosuit (SARE), which can conform to seamlessly without impeding movement is incredibly lightweight. The SARE human erector spinae complete any action with virtually infinite degrees freedom. To detect strain on control textile automatically, soft knitting sensor utilizes fluid pressure as sensing element used. new device validated experimentally subjects where it reduces peak electromyography (EMG) signals lumbar $32\%\pm 15\%$ loaded xmlns:xlink="http://www.w3.org/1999/xlink">$22\%\pm 8.2\%$ unloaded conditions. Moreover, integrated EMG decreased xmlns:xlink="http://www.w3.org/1999/xlink">$24.2\%\pm 13.6\%$ under condition xmlns:xlink="http://www.w3.org/1999/xlink">$22.6\%\pm 9\%$ condition. In summary, artificial muscle represents an anatomical solution reduce strain, metabolic energy cost pain associated lifting tasks.

Язык: Английский

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