Waist-assistive exoskeleton powered by a singular actuation mechanism for prevention of back-injury

Ko, Hun Keon; Lee, Seok Won; Koo, Dong Han; Lee, Inju; Hyun, Dong Jin

doi:10.1016/j.robot.2018.05.008

Cited by 54 publications

(44 citation statements)

References 14 publications

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“…But, the approximately 20% reduction in back muscle activity was comparable to Huysamen et al (2018) who evaluated a variation of the same device with INCLINATION control only. The reduction found in back muscle activity was somewhat lower compared to reductions reported for other active exoskeletons, which ranged from 25% to 60% of back muscle reduction (Kadota et al, 2009;Ko et al, 2018;Kobayashi et al, 2009;Kobayashi and Nozaki, 2008;Li et al, 2013;Muramatsu et al, 2011). This may in part be due to the limited performance of the actuators in the present study.…”

Section: Discussioncontrasting

confidence: 80%

The effect of control strategies for an active back-support exoskeleton on spine loading and kinematics during lifting

Koopman

Toxiri

Power

et al. 2019

Journal of Biomechanics

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With mechanical loading as the main risk factor for LBP, exoskeletons (EXO) are designed to reduce the load on the back by taking over part of the moment normally generated by back muscles. The present study investigated the effect of an active exoskeleton, controlled using three different control modes (INCLINATION, EMG & HYBRID), on spinal compression forces during lifting with various techniques. Ten healthy male subjects lifted a 15kg box, with three lifting techniques (free, squat & stoop), each of which was performed four times, once without EXO and once each with the three different control modes. Using inverse dynamics, we calculated L5/S1 joint moments. Subsequently, we estimated spine forces using an EMG-assisted trunk model. Peak compression forces substantially decreased by 17.8% when wearing the EXO compared to NO EXO. However, this reduction was partly, by about one third, attributable to a reduction of 25% in peak lifting speed when wearing the EXO. While subtle differences in back load patterns were seen between the three control modes, no differences in peak compression forces were found. In part, this may be related to limitations in the torque generating capacity of the EXO. Therefore, with the current limitations of the motors it was impossible to determine which of the control modes was best. Despite these limitations, the EXO still reduced both peak and cumulative compression forces by about 18%. The effect of control strategies for an active back-support exoskeleton on spine loading and kinematics during lifting Manuscript Click here to view linked References

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Section: Discussioncontrasting

confidence: 80%

The effect of control strategies for an active back-support exoskeleton on spine loading and kinematics during lifting

Koopman

Toxiri

Power

et al. 2019

Journal of Biomechanics

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“…With respect to previous studies employing the user angular velocity [14] [15], the same effect in terms of reducing the assistance that hinders the user at the beginning of lowering (a) is obtained. However, an unwanted effect would result at the end of lowering (b), as a lower assistance would be provided to the user, requesting him a greater effort to decelerate the descent.…”

Section: Discussionsupporting

confidence: 71%

“…Control strategies found in the literature have considered the trunk inclination, velocity and the external load weight for control purpose (as indicated in Section I for [14] [15] [13]). However, the trunk angular acceleration was never contemplated for the assistance, despite the evidence of its influence on lumbar load during lifting and lowering.…”

Section: B the Effects Of Dynamics On User's Musculoskeletal Systemmentioning

confidence: 99%

“…For back-support exoskeleton, trunk or legs movements can be registered thanks to Inertial Measurement Units (IMUs) or encoders embedded in the exoskeleton structure. Trunk inclination is usually measured through an IMU and used for gravity compensation (as in Robo-Mate [13] and Hyundai Waist Exoskeleton (H-WEX) [14]). The Active Pelvis Orthosis (APO) [15] uses two encoders and an IMU to detect when the lifting movement starts and then modulates the assistance according to hip angles (from the encoders).…”

Section: Introductionmentioning

confidence: 99%

“…However, considering industrial applications, EMG-based strategies are limited because of the invasiveness of the electrodes and the signal variability (with time, fatigue, sweat and skin artifacts). On the other hand, current exoskeleton strategies using mechanically intrinsic signals are primarily based only on the measure of the static variables of the user's movement (e.g., trunk inclination [13] [14] or hip angle [15]). As a result, the assistance would not adapt to the different phases of a task, i.e.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Acceleration-based Assistive Strategy to Control a Back-support Exoskeleton for Load Handling: Preliminary Evaluation

Lazzaroni

Toxiri

Caldwell

et al. 2019

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)

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Industrial active exoskeletons have recently achieved considerable interest, due to their intrinsic versatility compared to passive devices. To achieve this versatility, an important open challenge is the design of appropriate control strategies to automatically modulate the physical assistance according to the activity the user is performing. This work focuses on active back-support exoskeletons. To improve the assistance provided in dynamic situations with respect to state-of-the-art methods, a new strategy making use of the angular acceleration of the user's trunk is presented. The feasibility and effectiveness of the proposed strategy were tested experimentally on a prototype in a load handling task. The main advantages in terms of assistive torque profiles emerge during the transition phases of the movement (i.e. beginning and end of lowering and lifting) indicating an appropriate adaptation to the dynamics of the execution. In this preliminary evaluation, the data on peak muscular activity at the spine show promising trends, encouraging further developments and a more detailed evaluation.

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Model Based Analysis of Trunk Exoskeleton for Human Efforts Reduction

Panero

Muscolo

Pastorelli

et al. 2019

Advances in Service and Industrial Robotics

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Waist-assistive exoskeleton powered by a singular actuation mechanism for prevention of back-injury

Cited by 54 publications

References 14 publications

The effect of control strategies for an active back-support exoskeleton on spine loading and kinematics during lifting

The effect of control strategies for an active back-support exoskeleton on spine loading and kinematics during lifting

Acceleration-based Assistive Strategy to Control a Back-support Exoskeleton for Load Handling: Preliminary Evaluation

Model Based Analysis of Trunk Exoskeleton for Human Efforts Reduction

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