Model-Based Biomechanics for Conceptual Exoskeleton Support Estimation Applied for a Lifting Task

Gneiting, Elena; Schiebl, Jonas; Tröster, Mark; Kopp, Verena; Maufroy, Christophe; Schneider, Urs

doi:10.1007/978-3-030-69547-7_64

Cited by 5 publications

(7 citation statements)

References 2 publications

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“…Nevertheless, high MA in the arms (87 ± 7%s, especially upper arm flexors) indicate the importance of also supporting the arms during heavy lifting. As a result, we recommend relieving, in particular, the arms and shoulders (as we previously stated [ 47 ]) and, secondarily, also the back during heavy lifting activities up to shoulder height.…”

Section: Discussionmentioning

confidence: 86%

“…This is repeated for multiple exoskeleton concept variants, and biomechanical stress criteria are analyzed in order to identify the concept with the highest musculoskeletal relief potential ( Section 2.8 .). Note that a more superficial analysis of one motion sequence (T5) and, consequently, also some workflow information from Section 2.2 , Section 2.3 , Section 2.4 and Section 2.5 were reported before [ 47 ]. However, for better readability, they are also included here in greater detail.…”

Section: Methodsmentioning

confidence: 99%

“…Parts of this workflow were applied to a preselected heavy lifting task, observed in the logistics work of the Bundeswehr (Armed Forces of Germany), which was then investigated concerning MAs and joint forces (JFs). Different support torques and forces were implemented in the model to compare abstract conceptual exoskeleton design approaches according to their musculoskeletal relief potential (hereinafter referred to as biomechanical effectiveness) [ 47 ].…”

Section: Introductionmentioning

confidence: 99%

“…In addition, the system to be developed needed to support overhead tasks and heavy lifting at shoulder height [ 48 ]. Based on the findings of [ 47 , 48 ], various exoskeleton architectures were researched and conceived. Finally, a concept was selected that met the requirements best and seemed promising regarding its musculoskeletal relief potential.…”

Section: Introductionmentioning

confidence: 99%

“…To account for a biomechanically favorable interaction between the user and exoskeleton, we use a simulation-based workflow based on the one of Tröster et al [ 46 ], extend it, and apply it to a heavy lifting task. Lifting motion sequences occurring during military logistics work scenarios are analyzed with respect to MAs and JFs in order to select the most strenuous sequence, which was already investigated in [ 47 ] on a more superficial level. For the selected task, the preselected mechanical exoskeleton CAD (computer-aided design) concept is subsequently presented and investigated regarding its biomechanical effectiveness using multibody simulations.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Model-Based Biomechanical Exoskeleton Concept Optimization for a Representative Lifting Task in Logistics

Schiebl

Tröster

Idoudi

et al. 2022

IJERPH

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Occupational exoskeletons are a promising solution to prevent work-related musculoskeletal disorders (WMSDs). However, there are no established systems that support heavy lifting to shoulder height. Thus, this work presents a model-based analysis of heavy lifting activities and subsequent exoskeleton concept optimization. Six motion sequences were captured in the laboratory for three subjects and analyzed in multibody simulations with respect to muscle activities (MAs) and joint forces (JFs). The most strenuous sequence was selected and utilized in further simulations of a human model connected to 32 exoskeleton concept variants. Six simulated concepts were compared concerning occurring JFs and MAs as well as interaction loads in the exoskeleton arm interfaces. Symmetric uplifting of a 21 kg box from hip to shoulder height was identified as the most strenuous motion sequence with highly loaded arms, shoulders, and back. Six concept variants reduced mean JFs (spine: >70%, glenohumeral joint: >69%) and MAs (back: >63%, shoulder: >59% in five concepts). Parasitic loads in the arm bracing varied strongly among variants. An exoskeleton design was identified that effectively supports heavy lifting, combining high musculoskeletal relief and low parasitic loads. The applied workflow can help developers in the optimization of exoskeletons.

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Section: Discussionmentioning

confidence: 86%

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Model-Based Biomechanical Exoskeleton Concept Optimization for a Representative Lifting Task in Logistics

Schiebl

Tröster

Idoudi

et al. 2022

IJERPH

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Biomechanical assessment of the design and efficiency of occupational exoskeletons with the AnyBody Modeling System

et al. 2022

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Exoskeletons were invented over 100 years ago but have only become popular in the last two decades, especially in the working industry as they can decrease work-related loads significantly. The most often used exoskeletons are for the lower back and shoulder since these are commonly affected body regions. All devices have in common that their purpose is to reduce internal loads of vulnerable body regions. Nevertheless, there is still little understanding on how biomechanical loading in the human body changes when exoskeletons are used. Therefore, further analyses are needed. A promising candidate for these are musculoskeletal models, which are based on an inverse dynamics approach and can calculate external parameters such as ground reaction forces or other interaction forces as well as internal parameters such as joint reaction forces or muscle activities. The various examples in the literature show that these models are increasingly used for assessing the biomechanical effects of exoskeletons on the human body. Furthermore, musculoskeletal models can calculate biomechanical loadings of humans with and without exoskeletons for all kinds of applications and allow an evaluation of their purpose.Practical Relevance: This article highlights the possibilities of musculoskeletal models for assessing the design and efficiency of occupational exoskeletons. Several practical use cases are described along with distinct descriptions of common implications of musculoskeletal and exoskeleton modeling.

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Modelling the interaction between wearable assistive devices and digital human models—A systematic review

Scherb

Wartzack

Miehling

2023

Front. Bioeng. Biotechnol.

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Exoskeletons, orthoses, exosuits, assisting robots and such devices referred to as wearable assistive devices are devices designed to augment or protect the human body by applying and transmitting force. Due to the problems concerning cost- and time-consuming user tests, in addition to the possibility to test different configurations of a device, the avoidance of a prototype and many more advantages, digital human models become more and more popular for evaluating the effects of wearable assistive devices on humans. The key indicator for the efficiency of assistance is the interface between device and human, consisting mainly of the soft biological tissue. However, the soft biological tissue is mostly missing in digital human models due to their rigid body dynamics. Therefore, this systematic review aims to identify interaction modelling approaches between wearable assistive devices and digital human models and especially to study how the soft biological tissue is considered in the simulation. The review revealed four interaction modelling approaches, which differ in their accuracy to recreate the occurring interactions in reality. Furthermore, within these approaches there are some incorporating the appearing relative motion between device and human body due to the soft biological tissue in the simulation. The influence of the soft biological tissue on the force transmission due to energy absorption on the other side is not considered in any publication yet. Therefore, the development of an approach to integrate the viscoelastic behaviour of soft biological tissue in the digital human models could improve the design of the wearable assistive devices and thus increase its efficiency and efficacy.

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Model-Based Biomechanics for Conceptual Exoskeleton Support Estimation Applied for a Lifting Task

Cited by 5 publications

References 2 publications

Model-Based Biomechanical Exoskeleton Concept Optimization for a Representative Lifting Task in Logistics

Model-Based Biomechanical Exoskeleton Concept Optimization for a Representative Lifting Task in Logistics

Biomechanical assessment of the design and efficiency of occupational exoskeletons with the AnyBody Modeling System

Modelling the interaction between wearable assistive devices and digital human models—A systematic review

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