Introduction and initial exploration of an Active/Passive Exoskeleton framework for portable assistance

Matthew, Robert Peter; Mica, Eric John; Meinhold, Waiman; Loeza, Joel Alfredo; Tomizuka, Masayoshi; Bajcsy, Růžena

doi:10.1109/iros.2015.7354133

Cited by 19 publications

(10 citation statements)

References 17 publications

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“…An exoskeleton, a wearable device working in tandem with the user, augments, reinforces or restores human performance while being worn on the user's body [7], [8]. Active systems contain actuators to provide energy, whereas passive systems store and release energy by means of their elastic components [7], [9]. de Looze et al (2016) highlighted the potential of exoskeletons in industrial settings.…”

Section: Introductionmentioning

confidence: 99%

Passive Shoulder Exoskeletons: More Effective in the Lab Than in the Field?

Bock

Ghillebert

Govaerts

et al. 2021

IEEE Trans. Neural Syst. Rehabil. Eng.

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Shoulder exoskeletons potentially reduce overuse injuries in industrial settings including overhead work or lifting tasks. Previous studies evaluated these devices primarily in laboratory setting, but evidence of their effectiveness outside the lab is lacking. The present study aimed to evaluate the effectiveness of two passive shoulder exoskeletons and explore the transfer of laboratory-based results to the field. Four industrial workers performed controlled and in-field evaluations without and with two exoskeletons, ShoulderX and Skelex in a randomized order. The exoskeletons decreased upper trapezius activity (up to 46%) and heart rate in isolated tasks. In the field, the effects of both exoskeletons were less prominent (up to 26% upper trapezius activity reduction) while lifting windscreens weighing 13.1 and 17.0 kg. ShoulderX received high discomfort scores in the shoulder region and usability of both exoskeletons was moderate. Overall, both exoskeletons positively affected the isolated tasks, but in the field the support of both exoskeletons was limited. Skelex, which performed worse in the isolated tasks compared to ShoulderX, seemed to provide the most support during the in-field situations. Exoskeleton interface improvements are required to improve comfort and usability. Laboratorybased evaluations of exoskeletons should be interpreted with caution, since the effect of an exoskeleton is task Manuscript

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Section: Introductionmentioning

confidence: 99%

Passive Shoulder Exoskeletons: More Effective in the Lab Than in the Field?

Bock

Ghillebert

Govaerts

et al. 2021

IEEE Trans. Neural Syst. Rehabil. Eng.

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“…Exoskeletons are typically classified as active or passive. Active systems comprise of one or more actuators to augment the human's power, whereas passive systems use material compliance to provide gravity compensation, and spring/elastic members to store and release energy during movements to assist workers to perform physical movements (de Looze et al, 2015;Matthew et al, 2015). Exoskeletons are also defined based on the fit and resemblance to the human body limbs.…”

Section: Introductionmentioning

confidence: 99%

Assessment of an active industrial exoskeleton to aid dynamic lifting and lowering manual handling tasks

et al. 2018

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The aim of this study was to evaluate the effect of an industrial exoskeleton on muscle activity, perceived musculoskeletal effort, measured and perceived contact pressure at the trunk, thighs and shoulders, and subjective usability for simple sagittal plane lifting and lowering conditions. Twelve male participants lifted and lowered a box of 7.5 kg and 15 kg, respectively, from mid-shin height to waist height, five times, both with and without the exoskeleton. The device significantly reduced muscle activity of the Erector Spinae (12%-15%) and Biceps Femoris (5%). Ratings of perceived musculoskeletal effort in the trunk region were significantly less with the device (9.5%-11.4%). The measured contact pressure was highest on the trunk (91.7 kPa-93.8 kPa) and least on shoulders (47.6 kPa-51.7 kPa), whereas pressure was perceived highest on the thighs (35-44% of Max LPP). Six of the users rated the device usability as acceptable. The exoskeleton reduced musculoskeletal loading on the lower back and assisted with hip extensor torque during lifting and lowering. Contact pressures fell below the Pain Pressure Threshold. Perceived pressure was not exceptionally high, but sufficiently high to cause discomfort if used for long durations.

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“…This work presents an Active/Passive Exoskeleton system. This gadget can latently give ceaseless help, just expecting vitality to change the dynamic properties of the inactive state [15].…”

Section: Literature Reviewmentioning

confidence: 99%

Design and Fabrication of Chairless Chair

C*,

Kumar G,

P S

et al. 2019

IJITEE

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The chairless chair is a kind of ergonomical product which is actually a chair that is based on exoskeleton support. The primary work behavior of workers who have been listed as prolonged occupational standing reported that the worst health outcomes. A small study concluded that there stands a higher chance of significant and prolonged lower limb muscle fatigue while standing five hours or more than that a day. This might increase the risk for long-term back pain and musculoskeletal disorders. In mean time, the researchers found that people who primarily stand at work are several percentages more likely to develop heart disease than "predominantly sitting populations". The traditional chair is inconvenient to carry to different working locations due to its large size, and its heavy weight (5 to 7 kg approximately) and rigid structure and thus, they are inappropriate for workplaces where enough space is not available. The ultimate aim of this project is to develop a lower body cost efficient external skeletal structure that supports sitting, walking and partial standing posture. Flexible wearable chair may have gross weight of 3 kg as it utilizes lightweight members. It is to be fabricated in such a way that the workers can be cozy during their tasks and can alter their sitting postures at any angles between ninety degree to hundred and sixty degree. A person can utilize this exoskeleton like an extra pair of legs to give him or herself as support to sit without a chair or to adopt a more comfortable position for different tasks. Workers can walk about as typical, but if they want to sit or lean, adjust and fix the supporting structure in the required position. Then the weight is supported on the ground by means of their adjustable structures. It aids to save space in the working place as the workers wear it on their legs. It reduces bad health impacts that occurs due to excessive standing.

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Introduction and initial exploration of an Active/Passive Exoskeleton framework for portable assistance

Cited by 19 publications

References 17 publications

Passive Shoulder Exoskeletons: More Effective in the Lab Than in the Field?

Passive Shoulder Exoskeletons: More Effective in the Lab Than in the Field?

Assessment of an active industrial exoskeleton to aid dynamic lifting and lowering manual handling tasks

Design and Fabrication of Chairless Chair

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