Ergonomic contribution of ABLE exoskeleton in automotive industry

Sylla, Nahéma; Bonnet, Vincent; Colledani, F.; Fraisse, Philippe

doi:10.1016/j.ergon.2014.03.008

Cited by 130 publications

(70 citation statements)

References 3 publications

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“…An other conclusion might be that the subject is exploring other strategies involving the interaction of the exoskeleton. This can explain the increase of variability observed in human [7]. It is possible that after a certain adaptation time the subject was able to integrate the exoskeleton in his perception scheme, i.e.…”

Section: B Inverse Optimizationmentioning

confidence: 92%

“…2a, we can see that human joint torques increase significantly in the last situation. In this configuration the compensation level is not adapted to subjects, making them following the very artificial trajectory imposed by the exoskeleton [7]. Excluding this case (see Fig.…”

Section: A Human Experimentsmentioning

confidence: 99%

“…1b. To analyse subjects energy expenditure during the movement, mean of joint torques (Γ 1 , Γ 2 , Γ 3 , and Γ 4 ) were compared in the four situations as in a previous study [7].…”

Section: A Measurements and Modellingmentioning

confidence: 99%

“…In order to use this type of exoskeleton in PSA car assembly lines, it is necessary to assess its performances in terms of effort compensation, human movements coordination, and neuromuscular mechanisms. A previous study [7] was performed to assess the use of ABLE 7-axes exoskeleton in this context. Results show a clear reduction of joint torques and a slight modifications of joint angle trajectories.…”

Section: Introductionmentioning

confidence: 99%

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Assessing neuromuscular mechanisms in human-exoskeleton interaction

Sylla

Bonnet²,

Venture³

et al. 2014

2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Abstract-In this study, we propose to evaluate a 7 DOF exoskeleton in terms of motion control. Using criteria from the human motor control literature, inverse optimization was performed to assess an industrial screwing movement. The results of our study show that the hybrid composition of the free arm movement was accurately determined. At contrary, when wearing the exoskeleton, which produces an arbitrary determined torque compensation, the motion is different from the naturally adopted one. This study is part of the evaluation and comprehension of the complex neuromuscular mechanism resulting in wearing an exoskeleton several hours per day for industrial tasks assistance.

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Section: B Inverse Optimizationmentioning

confidence: 92%

Section: A Human Experimentsmentioning

confidence: 99%

“…1b. To analyse subjects energy expenditure during the movement, mean of joint torques (Γ 1 , Γ 2 , Γ 3 , and Γ 4 ) were compared in the four situations as in a previous study [7].…”

Section: A Measurements and Modellingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Assessing neuromuscular mechanisms in human-exoskeleton interaction

Sylla

Bonnet²,

Venture³

et al. 2014

2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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show abstract

“…An example is the passively adaptive rotary-to-linear CVT [13], which can be used in a pick and place cobotic system, without the need of additional mechanical components to convert the rotational movement into linear movement. It is noteworthy that although cobots were first used in automotive industry, cobots have been used in rehabilitation, surgery, training devices for inexperienced human operators in precision tasks, etc [9][10][11][12].…”

Section: Accepted Manuscriptmentioning

confidence: 99%

Modelling and experimental validation of a planar 2-dof cobot as a differential-algebraic equation system

Mendoza-Trejo

Cruz-Villar

2016

Applied Mathematical Modelling

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Highlights• Modelling of a planar cobot as a differential-algebraic equation system.• Lagrangian formulation for simulation of a DAE system.• Experimental validation of the proposed DAE model. AbstractCobots are passive robots designed to work in a cooperative way with human operators. In human-cobot collaboration, the human operator provides the necessary force to perform the movement of the system and the cobot provides a virtual guiding surface. This paper presents the modelling and experimental validation of a planar two degree of freedom (2-dof) cobot with differential gear trains in serial configuration as a differential-algebraic equation system, where the dynamic model of a conventional 2-dof robot considering the force exerted by the human operator represents the set of differential equations and the kinematic model of the differential gear train represents the algebraic constraint. For simulation results, the force exerted by the human operator is decomposed into its cartesian components and considered as the output of a PD controller. The presented model allows the constraint to which the system is subject be fulfilled in tighter tolerances. Moreover, to validate the proposed model, a comparison between both experimental and simulation results is presented.

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Managing Low‐back Disorder Risk in the Workplace

Marras

Karwowski

2021

Handbook of Human Factors and Ergonomics

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Ergonomic contribution of ABLE exoskeleton in automotive industry

Cited by 130 publications

References 3 publications

Assessing neuromuscular mechanisms in human-exoskeleton interaction

Assessing neuromuscular mechanisms in human-exoskeleton interaction

Modelling and experimental validation of a planar 2-dof cobot as a differential-algebraic equation system

Managing Low‐back Disorder Risk in the Workplace

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