SIAT-WEXv2: A Wearable Exoskeleton for Reducing Lumbar Load during Lifting Tasks

Ji, Xinyu; Wang, Dashuai; Li, Pengfei; Zheng, Lanhong; Sun, Jianquan; Wang, Xinyu

doi:10.1155/2020/8849427

Cited by 18 publications

(14 citation statements)

References 15 publications

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“…To amplify human endurance while carrying heavy loads, BLEEX [ 13 ] (7-DOF/limb) was developed with intelligent and adaptable robot-based strategies where linear hydraulic actuators were used for the actuation of 4-DOF. Recently, Ji et al [ 14 ] introduced a wearable exoskeleton, SIAT-WEXv2, to support the user's waist and bones while lifting heavy objects in construction and logistic industries by providing an assistive output of 28 N.…”

Section: Introductionmentioning

confidence: 99%

Robust LQR-Based Neural-Fuzzy Tracking Control for a Lower Limb Exoskeleton System with Parametric Uncertainties and External Disturbances

Narayan

Dwivedy

2021

Applied Bionics and Biomechanics

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The design of an accurate control scheme for a lower limb exoskeleton system has few challenges due to the uncertain dynamics and the unintended subject’s reflexes during gait rehabilitation. In this work, a robust linear quadratic regulator- (LQR-) based neural-fuzzy (NF) control scheme is proposed to address the effect of payload uncertainties and external disturbances during passive-assist gait training. Initially, the Euler-Lagrange principle-based nonlinear dynamic relations are established for the coupled system. The input-output feedback linearization approach is used to transform the nonlinear relations into a linearized state-space form. The architecture of the adaptive neuro-fuzzy inference system (ANFIS) and used membership function are briefly explained. While varying mass parameters up to 20%, three robust neural-fuzzy datasets are formulated offline with the joint error vector and LQR control input. Thereafter, to deal with external interferences, an error dynamics with a disturbance estimator is presented using an online adaptation of the firing strength matrix. The Lyapunov theory is carried out to ensure the asymptotic stability of the coupled human-exoskeleton system in view of the proposed controller. The gait tracking results for the proposed control scheme (RLQR-NF) are presented and compared with the exponential reaching law-based sliding mode (ERL-SM) controller. Furthermore, to investigate the robustness of the proposed control over LQR control, a comparative performance analysis is presented for two cases of parametric uncertainties and external disturbances. The first case considers the 20% raise in mass values with a trigonometric form of disturbances, and the second case includes the effect of the 30% increment in mass values with a random form of disturbances. The simulation runs have shown the promising gait tracking aspects of the designed controller for passive-assist gait training.

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Section: Introductionmentioning

confidence: 99%

Robust LQR-Based Neural-Fuzzy Tracking Control for a Lower Limb Exoskeleton System with Parametric Uncertainties and External Disturbances

Narayan

Dwivedy

2021

Applied Bionics and Biomechanics

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“…In addition, the number of subjects in this study is the same as those in references [ 5 , 27 ] and higher than those in some previous researches such as [ 28 , 30 ], but more subjects, including female subjects, should be involved in the experiment in order to obtain more reliable results in the future.…”

Section: Discussionmentioning

confidence: 97%

“…Previous studies have shown that exoskeletons have positive results in the biomechanical evaluation. It has been proven to significantly reduce the muscle activity of the main muscles involved in handling or overhead work [ 27 , 28 ]. The passive back exoskeleton has been shown to reduce spinal muscle activity by 20 to 25% in real car assembly operations [ 29 ].…”

Section: Introductionmentioning

confidence: 99%

The Effects of a Passive Exoskeleton on Human Thermal Responses in Temperate and Cold Environments

Liu

Lai

et al. 2021

IJERPH

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The exoskeleton as functional wearable equipment has been increasingly used in working environments. However, the effects of wearing an exoskeleton on human thermal responses are still unknown. In this study, 10 male package handlers were exposed to 10 °C (COLD) and 25 °C (TEMP) ambient temperatures while performing a 10 kg lifting task (LIFTING) and sedentary (REST) both with (EXO) and without the exoskeleton (WEXO). Thermal responses, including the metabolic rate and mean skin temperature (MST), were continuously measured. Thermal comfort, thermal sensation and sweat feeling were also recorded. For LIFTING, metabolic heat production is significant decrease with the exoskeleton support. The MST and thermal sensation significantly increase when wearing the exoskeleton, but thermal discomfort and sweating are only aggravated in TEMP. For REST, MST and thermal sensation are also increased by the exoskeleton, and there is no significant difference in the metabolic rate between EXO and WEXO. The thermal comfort is significantly improved by wearing the exoskeleton only in COLD. The results suggest that the passive exoskeleton increases the local clothing insulation, and the way of wearing reduces the “pumping effect”, which makes a difference in the thermal response between COLD and TEMP. Designers need to develop appropriate usage strategies according to the operative temperature.

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“…During long-term lifting activity, the exoskeleton is reported to decrease stress and lumbar muscle strain. In the updated model SIAT-WEXv2, a 48% reduction of muscle activity of Lumbar erector spinae was achieved (Ji et al, 2020).…”

Section: Active Back-support Devicesmentioning

confidence: 99%

Systematic Review of Back-Support Exoskeletons and Soft Robotic Suits

Ali

Fontanari

Schmoelz

et al. 2021

Front. Bioeng. Biotechnol.

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Lower back pain and musculoskeletal injuries are serious concerns for workers subjected to physical workload and manual material handling tasks. Spine assistive exoskeletons are being developed to support the spine and distribute the spine load. This article presents a detailed up-to-date review on the back support exoskeletons by discussing their type (Active/Passive), structure (Rigid/Soft), power transmission methods, weight, maximum assistive force, battery technologies, tasks (lifting, bending, stooping work), kinematic compatibility and other important features. This article also assesses the back support exoskeletons in terms of their ability to reduce the physical load on the spine. By reviewing functional and structural characteristics, the goal is to increase communication and realization among ergonomics practitioners, developers, customers, and factory workers. The search resulted in reviewing 34 exoskeletons of which 16 were passive and 18 were active. In conclusion, back support exoskeletons have immense potential to significantly reduce the factors regarding work-related musculoskeletal injuries. However, various technical challenges and a lack of established safety standards limit the wide adaptation of exoskeletons in industry.

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SIAT-WEXv2: A Wearable Exoskeleton for Reducing Lumbar Load during Lifting Tasks

Cited by 18 publications

References 15 publications

Robust LQR-Based Neural-Fuzzy Tracking Control for a Lower Limb Exoskeleton System with Parametric Uncertainties and External Disturbances

Robust LQR-Based Neural-Fuzzy Tracking Control for a Lower Limb Exoskeleton System with Parametric Uncertainties and External Disturbances

The Effects of a Passive Exoskeleton on Human Thermal Responses in Temperate and Cold Environments

Systematic Review of Back-Support Exoskeletons and Soft Robotic Suits

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