Industrial exoskeletons from bench to field: Human-machine interface and user experience in occupational settings and tasks

Frontiers in Public Health, Год журнала: 2022, Номер 10

Опубликована: Ноя. 21, 2022

Work-related musculoskeletal disorders (WRMSDs) are considered nowadays the most serious issue in Occupational Health and Safety field industrial exoskeletons appear to be a new approach addressing this medical burden. A systematic review has been carried out analyze real-life data of application work settings considering subjective responses workers.

Язык: Английский

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Adaptive Switching Control Based on Dynamic Zero-Moment Point for Versatile Hip Exoskeleton Under Hybrid Locomotion

IEEE Transactions on Industrial Electronics, Год журнала: 2022, Номер 70(11), С. 11443 - 11452

Опубликована: Дек. 20, 2022

In this article, an adaptive switching controller based on the dynamic zero-moment point for versatile hip exoskeleton is proposed. The linear finite hysteretic state machine designed to recognize hybrid motion phases. torque planning strategy deployed obtain assistant adaptively under different locomotion. Experiments are carried out verify performance of controller, confirming stability and accuracy phase recognition, which also demonstrates excellent kinematic performance. net metabolic rate can be reduced by 6.93% while wearing walking. integrated surface electromyography 54.8% lifting objects. Compared with existing research, proposed has significant advantages. capable multiple types locomotion, including flat walking, stair climbing, heavy objects low complexity energy consumption.

Язык: Английский

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The impact of an active and passive industrial back exoskeleton on functional performance

Ergonomics, Год журнала: 2023, Номер 67(5), С. 597 - 618

Опубликована: Июль 22, 2023

Due to differences in actuation and design, active passive industrial back exoskeletons could influence functional performance, i.e., work perceived task difficulty, discomfort, differently. Therefore, this study investigated compared the impact of CrayX (7 kg) Paexo Back (4.5 on performance. Eighteen participants performed twelve work-related tasks with both types without (NoExo). The hindered performance up 22% multiple tasks, NoExo, while between NoExo condition was more comparable, except for stair climbing (13% hindrance). Perceived difficulty discomfort seldomly varied exoskeletons. Although shows promise benefit workers, limitations hindrance comfort should first be addressed. has demonstrated an advantage certain static tasks. However, increasing its potential across a broader range seems warranted.Practitioner Summary: Differences regard i.e. were by evaluating significantly affected performance.Abbreviations: WMSD: Work-related musculoskeletal disorder; NoExo: No Exoskeleton; GD: General discomfort; PTD: difficulty; BMI: Body Mass Index

Язык: Английский

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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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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 analysis of different back-supporting exoskeletons regarding musculoskeletal loading during lifting and holding

Journal of Biomechanics, Год журнала: 2024, Номер 168, С. 112125 - 112125

Опубликована: Апрель 27, 2024

Язык: Английский

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Evaluating the Efficacy of a Passive Exoskeleton for Enhancing Ergonomics in Manufacturing

Applied Sciences, Год журнала: 2024, Номер 14(13), С. 5810 - 5810

Опубликована: Июль 3, 2024

Manual material handling (MMH) significantly impacts worker health and productivity, often leading to musculoskeletal disorders (MSDs) primarily in the lower back. As a novel assistive technology, exoskeletons may serve as ergonomic tools mitigate these work-related MSDs. It is essential examine from users’ perspectives before their widespread implementation occupational settings. This study investigates effectiveness of passive back-support exoskeleton (BExo) reducing perceived physical exertion improving safety manufacturing context. Twenty-two college students were recruited perform MMH tasks controlled lab environment, both with without BExo, followed by completing survey questionnaire on various aspects BExo. Using ANOVA, analyzed biomechanical across body parts tasks. The findings indicate that BExo substantially alleviated discomfort low back, shoulders knees, thereby enhancing an posture fatigue. These results underscore potential boost workers’ efficiency, providing valuable insights for future strategies industrial

Язык: Английский

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Non-anthropomorphic passive load-bearing lower-limb exoskeleton with a reconfigurable mechanism based on mechanical intelligence

Mechanism and Machine Theory, Год журнала: 2024, Номер 201, С. 105753 - 105753

Опубликована: Июль 26, 2024

Язык: Английский

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Ability of a passive back support exoskeleton to mitigate fatigue related adaptations in a complex repetitive lifting task

Journal of Biomechanics, Год журнала: 2025, Номер unknown, С. 112553 - 112553

Опубликована: Янв. 1, 2025

Язык: Английский

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