A passive upper-limb exoskeleton for industrial application based on pneumatic artificial muscles

Abstract

Abstract. In recent years, exoskeletons are increasingly spreading into the industrial manufacturing sector to improve productivity and to reduce the incidence of work-related musculoskeletal diseases. The aim of this paper is to present a 2 degrees of freedom (DoF) passive upper-limb exoskeleton, consisting of two McKibben pneumatic artificial muscles (PAMs), and used for assisting workers during activities that require them to keep their hands in a sustained position over the head for a long time. Simulations are performed to test two different commercial PAMs and two different designs of the transmission system used to convey the traction force exerted by the pneumatic muscles to the limb; then the results are discussed. A preliminary assembly of the exoskeleton is also presented. The study confirms that PAMs can be used to realize a passive upper-limb exoskeleton for industrial application and that appropriate working space can be obtained with an accurate design of the transmission system.

The Research on Soft Pneumatic Actuators in Italy: Design Solutions and Applications

“…The results showed that the exoskeleton reduces the compressive load on the rachis and the anatomical muscle force by about 35% and 43%, respectively. [78,79]; (e) active suit for upper limbs [80].…”

“…Due to their characteristics, PAMs can also be employed as passive elements (no actuation) within the structure of an exoskeleton [78,79]. The authors designed a passive upper limb exoskeleton based on MKMs to assist workers in keeping their arms in an elevated position (Figure 15d).…”

“…The authors designed a passive upper limb exoskeleton based on MKMs to assist workers in keeping their arms in an elevated position (Figure 15d). The exoskeleton improves the performances of workers in [78,79]; (e) active suit for upper limbs [80].…”

“…Rehabilitation and wearable device. (a) scoliosis brace [58]; (b) massage device [75]; (c) active exoskeleton for the back [77]; (d) passive exoskeleton for upper limbs[78,79]; (e) active suit for upper limbs[80].…”

Evaluating initial usability of a hand augmentation device across a large and diverse sample

“…Likewise, exoskeletons can allow workers to lift and carry heavy loads without risk of injury or can provide extra strength to the wearer to reduce strain on the body. For these reasons, wearable motor augmentation technologies have the potential to improve productivity and safety in a variety of industries, such as construction, manufacturing, and more (8,9). Beyond improving the quality of life for healthy individuals who want to enhance their productivity, the same technologies can also provide people with disabilities new ways to interact with their environment (10).…”