Acceleration-based Assistive Strategy to Control a Back-support Exoskeleton for Load Handling: Preliminary Evaluation

Lazzaroni, Maria; Toxiri, Stefano; Caldwell, Darwin G.; Anastasi, Sara; Monica, Luigi; Momi, Elena De

doi:10.1109/icorr.2019.8779392

Cited by 20 publications

(16 citation statements)

References 28 publications

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“…The aim of this study is to investigate the effects of different control strategies for a back-support exoskeleton used to assist with lifting and lowering tasks. With respect to previous studies performed on an earlier version of the same device (Toxiri et al, 2018;Koopman et al, 2019c), a new control strategy making use of the angular acceleration of the user's trunk was introduced in Lazzaroni et al (2019). The main advantages in terms of assistive torque provided to the users would emerge during the transition phases (i.e., beginning and end of lowering and lifting), thereby providing an appropriate adaptation to their movement dynamics.…”

Section: Objective Of This Studymentioning

confidence: 99%

Evaluation of an acceleration-based assistive strategy to control a back-support exoskeleton for manual material handling

et al. 2020

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To reduce the incidence of occupational musculoskeletal disorders, back-support exoskeletons are being introduced to assist manual material handling activities. Using a device of this type, this study investigates the effects of a new control strategy that uses the angular acceleration of the user’s trunk to assist during lifting tasks. To validate this new strategy, its effectiveness was experimentally evaluated relative to the condition without the exoskeleton as well as against existing strategies for comparison. Using the exoskeleton during lifting tasks reduced the peak compression force on the L5S1 disc by up to 16%, with all the control strategies. Substantial differences between the control strategies in the reductions of compression force, lumbar moment and back muscle activation were not observed. However, the new control strategy reduced the movement speed less with respect to the existing strategies. Thanks to improved timing in the assistance in relation to the typical dynamics of the target task, the hindrance to typical movements appeared reduced, thereby promoting intuitiveness and comfort.

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Section: Objective Of This Studymentioning

confidence: 99%

Evaluation of an acceleration-based assistive strategy to control a back-support exoskeleton for manual material handling

et al. 2020

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“…Most commercially available industrial exoskeletons provide support or assist with movements of the back and arms (Bogue, 2018;Theurel & Desbrosses, 2019; A c c e p t e d M a n u s c r i p t Wesslén, 2018). Back-support exoskeletons are primarily designed to reduce biomechanical loads on lower-back structures during spine-loading tasks by applying assistive forces/torques between the user's torso and thighs (Toxiri et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Effects of industrial back-support exoskeletons on body loading and user experience: an updated systematic review

et al. 2021

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This study is an updated systematic review of papers published in the last five years on industrial back-support exoskeletons. The research questions were aimed at addressing the recent findings regarding objective (e.g. body loading, user performance) and subjective evaluations (e.g. user satisfaction), potential side effects, and methodological aspects of usability testing. Thirteen studies of active and twenty of passive exoskeletons were identified. The exoskeletons were tested during lifting and bending tasks, predominantly in laboratory settings and among healthy young men. In general, decreases in participants' back-muscle activity, peak L5/S1 moments and spinal compression forces were reported. User endurance during lifting and static bending improved, but performance declined during tasks that required increased agility. The overall user satisfaction was moderate. Some side effects were observed, including increased abdominal/lower-limb muscle activity and changes in joint angles. A need was identified for further field studies, involving industrial workers, and reflecting actual work situations.

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“…Properly controlling the active actuators allows designers to tune the assistance being provided based on different control strategies. As an example, in Toxiri et al ( 2018 ) and Tan et al ( 2019 ) sEMG signals are used to modulate the assistive torque, while in Lazzaroni et al ( 2020 ), Chen et al ( 2018 ), Ko et al ( 2018 ), Zhang and Huang ( 2018 ), and Yu et al ( 2015 ) the control relies on kinematics.…”

Section: Introductionmentioning

confidence: 99%

Applicability of an Active Back-Support Exoskeleton to Carrying Activities

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Occupational back-support exoskeletons are becoming a more and more common solution to mitigate work-related lower-back pain associated with lifting activities. In addition to lifting, there are many other tasks performed by workers, such as carrying, pushing, and pulling, that might benefit from the use of an exoskeleton. In this work, the impact that carrying has on lower-back loading compared to lifting and the need to select different assistive strategies based on the performed task are presented. This latter need is studied by using a control strategy that commands for constant torques. The results of the experimental campaign conducted on 9 subjects suggest that such a control strategy is beneficial for the back muscles (up to 12% reduction in overall lumbar activity), but constrains the legs (around 10% reduction in hip and knee ranges of motion). Task recognition and the design of specific controllers can be exploited by active and, partially, passive exoskeletons to enhance their versatility, i.e., the ability to adapt to different requirements.

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Acceleration-based Assistive Strategy to Control a Back-support Exoskeleton for Load Handling: Preliminary Evaluation

Cited by 20 publications

References 28 publications

Evaluation of an acceleration-based assistive strategy to control a back-support exoskeleton for manual material handling

Evaluation of an acceleration-based assistive strategy to control a back-support exoskeleton for manual material handling

Effects of industrial back-support exoskeletons on body loading and user experience: an updated systematic review

Applicability of an Active Back-Support Exoskeleton to Carrying Activities

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