Co-Simulationsmodell zur nutzerzentrierten Entwicklung von Unterstützungssystemen

Yao, Zhejun; Molz, Carla; Sänger, Johannes; Miehling, Jörg; Germann, René; Wartzack, Sandro; Matthiesen, Sven; Weidner, Robert

doi:10.1515/zwf-2021-0085

Cited by 4 publications

(2 citation statements)

References 17 publications

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“…Figure 7 shows the damping effect of the controller when opposed to inputs introduced by the supporting structure. The input signal is a normalized measurement of an XSENSOR pressure mat, located at the load introduction area of the exoskeleton's arm shell, recorded over a full motion path when carrying out the task of picking up workpiece, and mounting it overhead, and integrated over the area [24]. The controlled shoulder-arm complex serves as a model for the real behavior of a human arm when exposed to external disturbances.…”

Section: Lidar Sensorsmentioning

confidence: 99%

LiDAR-based Real-time Measurement and Control of Shoulder Torque - Preview on an Experimental Approach

Herrmann¹,

Ebenhoch²,

Wense³

et al. 2022

Preprint

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<p>A concept of how load imposed by an exoskeleton on the</p> <p>upper arm affects shoulder torque is given using a mechanical mock-up of the shoulder-arm-system and a serial kinematic robot. System identification methods for linear surrogate models of the human shoulder-armsystem and their embeddings in control loops are introduced. Early measurements of a novel, multisensor LiDAR system for real-time motioncapturing of human motion are presented, and its implications discussed.The experimental setup is used for direct shoulder torque readings and control.</p>

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Section: Lidar Sensorsmentioning

confidence: 99%

LiDAR-based Real-time Measurement and Control of Shoulder Torque - Preview on an Experimental Approach

Herrmann¹,

Ebenhoch²,

Wense³

et al. 2022

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…There is a wide variety of upper-limb exoskeletons with regard to construction forms and types of support. To date, the most common commercially available exoskeletons are shouldersupporting exoskeletons that usually have a rigid structure on the back and arm cuffs, which are coupled (Exoskeleton Report, FIGURE 1 | "Lucy" exoskeleton for over head work (e.g., Yao et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

Effects of Upper-Limb Exoskeletons Designed for Use in the Working Environment—A Literature Review

et al. 2022

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Introduction: Many employees report high physical strain from overhead work and resulting musculoskeletal disorders. The consequences of these conditions extend far beyond everyday working life and can severely limit the quality of life of those affected. One solution to this problem may be the use of upper-limb exoskeletons, which are supposed to relieve the shoulder joint in particular. The aim of this literature review was to provide an overview of the use and efficacy of exoskeletons for upper extremities in the working environment.Methods: A literature review was conducted using the PICO scheme and the PRISMA statement. To this end, a systematic search was performed in the PubMed, Web of Science and Scopus databases in May 2020 and updated in February 2022. The obtained studies were screened using previously defined inclusion and exclusion criteria and assessed for quality. Pertinent data were then extracted from the publications and analyzed with regard to type of exoskeleton used as well as efficacy of exoskeleton use.Results: 35 suitable studies were included in the review. 18 different exoskeletons were examined. The majority of the exoskeletons only supported the shoulder joint and were used to assist individuals working at or above shoulder level. The main focus of the studies was the reduction of muscle activity in the shoulder area. Indeed, 16 studies showed a reduced activity in the deltoid and trapezius muscles after exoskeleton use. Kinematically, a deviation of the movement behavior could be determined in some models. In addition, study participants reported perceived reduction in exertion and discomfort.Discussion: Exoskeletons for upper extremities may generate significant relief for the intended tasks, but the effects in the field (i.e., working environment) are less pronounced than in the laboratory setting. This may be due to the fact that not only overhead tasks but also secondary tasks have to be performed in the field. In addition, currently available exoskeletons do not seem to be suitable for all overhead workplaces and should always be assessed in the human-workplace context. Further studies in various settings are required that should also include more females and older people.

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LiDAR-based Real-Time Measurement and Control of Shoulder Torque—Preview on an Experimental Approach

Herrmann,

Ebenhoch,

von der Wense

et al. 2023

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2022

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A concept of how load imposed by an exoskeleton on the upper arm affects shoulder torque is given using a mechanical mock-up of the shoulder-arm-system and a serial kinematic robot. System identification methods for linear surrogate models of the human shoulder-arm-system and their embeddings in control loops are introduced. Early measurements of a novel, multisensor LiDAR system for real-time motion-capturing of human motion are presented, and its implications discussed. The experimental setup is used for direct shoulder torque readings and control.

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Co-Simulationsmodell zur nutzerzentrierten Entwicklung von Unterstützungssystemen

Cited by 4 publications

References 17 publications

LiDAR-based Real-time Measurement and Control of Shoulder Torque - Preview on an Experimental Approach

LiDAR-based Real-time Measurement and Control of Shoulder Torque - Preview on an Experimental Approach

Effects of Upper-Limb Exoskeletons Designed for Use in the Working Environment—A Literature Review

LiDAR-based Real-Time Measurement and Control of Shoulder Torque—Preview on an Experimental Approach

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