The experiments of wearable robot for carrying heavy-weight objects of shipbuilding works

Chu, Gil-Whoan; Hong, Jincheol; Jeong, Dong-Hyun; Kim, Dong–Su; Kim, Soo‐Ho; Jeong, Seungwoo; Choo, Junghoon

doi:10.1109/coase.2014.6899445

Cited by 18 publications

(15 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It should be noted that earlier work has shown that maintaining balance when using a WB-PEXO can be demanding without an active control of balance [27], [30]. The XO prototype examined here did not have such a control layer at the time of testing.…”

Section: Difficulty Controlling a Wb-pexo?mentioning

confidence: 91%

See 1 more Smart Citation

Human Gait During Level Walking With an Occupational Whole-Body Powered Exoskeleton: Not Yet a Walk in the Park

et al. 2021

View full text Add to dashboard Cite

With rapid advancements in exoskeleton technologies, a whole-body powered exoskeleton (WB-PEXO) for augmenting human physical capacity (a "super-operator") is generating increasing attention as an integral part of Industry 4.0. Our understanding of WB-PEXO use is lagging, however, largely due to the lack of detailed evaluations via human-subjects testing of a WB-PEXO. We examined (independently from the manufacturer of a WB-PEXO) the potential impacts of using a state-of-the-art WB-PEXO prototype (pre-alpha prototype version of the Sarcos Guardian ® XO ® ) on users (n=5) during a common basic activity in the workplace, level walking. With emphasis on "human", impacts of XO use (compared to a no EXO baseline) were assessed in terms of lower limb intersegmental coordination, muscle activity, and postural dynamic stability. A larger variance between participants was observed for intersegmental coordination with XO use, and participants appeared to rely on more hip motions. When using the XO, participants exhibited higher muscle activity levels in the lower limb muscle groups monitored. Further, there was a moderate to high similarity in muscle activity profiles between the XO and no EXO conditions ( !" ( ) = 0.70 − 0.92), yet muscle activity profiles when using the XO were generally time-lagged from those without the XO. We discuss the results within the context of developing a mental model for walking with the XO, and aspects of human-robot interaction such as transparency of the XO and understanding user state and intention. In concluding, we outline several future research topics for occupational WB-PEXO development.INDEX TERMS Gait performance, human-robot interaction, occupational exoskeleton, whole body system.

show abstract

Section: Difficulty Controlling a Wb-pexo?mentioning

confidence: 91%

“…Several other WB-PEXOs have been developed. For example, in 2010 Panasonic Activelink presented a WB-PEXO designed for heavy-duty jobs [29], and the Daewoo WB-PEXO prototype was described in 2014 had a lifting capacity of 30 kg during tasks relevant to shipbuilding [30].…”

Section: Introductionmentioning

confidence: 99%

Human Gait During Level Walking With an Occupational Whole-Body Powered Exoskeleton: Not Yet a Walk in the Park

et al. 2021

View full text Add to dashboard Cite

show abstract

“…Further, it is discussed that such system can be utilized in any field where the step voltage hazard is common and frequent. Chu et al [15] performed experimental studies to find the scope of wearable robots in shipbuilding environment for the workers. The main motivation of such study is to reduce the work load and help the workers to lift heavy weight objects from one place to other.…”

Section: Related Workmentioning

confidence: 99%

Opportunities and Challenges in Health Sensing for Extreme Industrial Environment: Perspectives From Underground Mines

et al. 2019

View full text Add to dashboard Cite

Occupational health and safety hazards in the extreme work environment of underground mines remained a serious concern for both mine management and regulatory agency. Miners are often employed to perform different mining activities across the mine and are always exposed to health risks such as lung cancer. With the technology advancements, it is now possible to keep track of mine individuals and their health parameters. The current practice of health analysis is periodic in nature and is highly dependent on voluntary participation. Wearable health sensing system is an alternative solution to overcome these challenges and is able to provide insights on miners' health conditions. Timely analysis of physiological parameters of the miners is immensely helpful to minimize the injuries and can also provide preventive measures for potential health hazards. In this paper, we propose a wireless health monitoring system, especially for underground mines. The contributions of this paper are twofold. First, it presents and discusses our proposed system architecture and solution followed by challenges of such system in the context of underground mines. Second, as a preliminary analysis, detailed discussion on the wireless link behavior for reliable data transmission and communication are presented. We performed real-world experimental measurements in an operational underground coal mine considering several deployment settings in straight, near face and curved mine galleries. The communication metrics (e.g., received signal strength and packet reception rate) are extensively evaluated.INDEX TERMS Health sensing, activity monitoring, underground mines, occupational health hazards, communication, data analytics, wearables in mines, artificial intelligence, miners.

show abstract

“…With the recent rapid growth of the wearable robot market, a variety of wearable robots are being developed and utilized for various purposes, such as for the rehabilitation of patients suffering from neurological or musculoskeletal disorders or assisting elderly people suffering from weak muscle strength [ 1 , 2 , 3 , 4 ]. Wearable robots also assist workers to prevent musculoskeletal disorders and improve productivity at industrial sites [ 5 , 6 , 7 , 8 , 9 ]. The technology that enables robots to interact with humans so that they can make their own decisions is called human–robot interaction (HRI).…”

Section: Introductionmentioning

confidence: 99%

Rugged and Compact Three-Axis Force/Torque Sensor for Wearable Robots

Jeong

Choi

Park

et al. 2021

Sensors

View full text Add to dashboard Cite

In the field of robotics, sensors are crucial in enabling the interaction between robots and their users. To ensure this interaction, sensors mainly measure the user’s strength, and based on this, wearable robots are controlled. In this paper, we propose a novel three-axis force/torque sensor for wearable robots that is compact and has a high load capacity. The bolt and nut combination of the proposed sensor is designed to measure high-load weights, and the simple structure of this combination allows the sensor to be compact and light. Additionally, to measure the three-axis force/torque, we design three capacitance-sensing cells. These cells are arranged in parallel to measure the difference in capacitance between the positive and negative electrodes. From the capacitance change measured by these sensing cells, force/torque information is converted through deep neural network calibration. The sensing point can also be confirmed using the geometric and kinematic relation of the sensor. The proposed sensor is manufactured through a simple and inexpensive process using cheap and simply structured components. The performance of the sensor, such as its repeatability and capacity, is evaluated using several experimental setups. In addition, the sensor is applied to a wearable robot to measure the force of an artificial muscle.

show abstract

The experiments of wearable robot for carrying heavy-weight objects of shipbuilding works

Cited by 18 publications

References 5 publications

Human Gait During Level Walking With an Occupational Whole-Body Powered Exoskeleton: Not Yet a Walk in the Park

Human Gait During Level Walking With an Occupational Whole-Body Powered Exoskeleton: Not Yet a Walk in the Park

Opportunities and Challenges in Health Sensing for Extreme Industrial Environment: Perspectives From Underground Mines

Rugged and Compact Three-Axis Force/Torque Sensor for Wearable Robots

Contact Info

Product

Resources

About