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Kuber PM, Kulkarni AR, Rashedi E. How Effective Are Forecasting Models in Predicting Effects of Exoskeletons on Fatigue Progression? SENSORS (BASEL, SWITZERLAND) 2024; 24:5971. [PMID: 39338720 PMCID: PMC11435710 DOI: 10.3390/s24185971] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/15/2024] [Revised: 09/06/2024] [Accepted: 09/13/2024] [Indexed: 09/30/2024]
Abstract
Forecasting can be utilized to predict future trends in physiological demands, which can be beneficial for developing effective interventions. This study implemented forecasting models to predict fatigue level progression when performing exoskeleton (EXO)-assisted tasks. Specifically, perceived and muscle activity data were utilized from nine recruited participants who performed 45° trunk flexion tasks intermittently with and without assistance until they reached medium-high exertion in the low-back region. Two forecasting algorithms, Autoregressive Integrated Moving Average (ARIMA) and Facebook Prophet, were implemented using perceived fatigue levels alone, and with external features of low-back muscle activity. Findings showed that univariate models without external features performed better with the Prophet model having the lowest mean (SD) of root mean squared error (RMSE) across participants of 0.62 (0.24) and 0.67 (0.29) with and without EXO-assisted tasks, respectively. Temporal effects of BSIE on delaying fatigue progression were then evaluated by forecasting back fatigue up to 20 trials. The slope of fatigue progression for 20 trials without assistance was ~48-52% higher vs. with assistance. Median benefits of 54% and 43% were observed for ARIMA (with external features) and Prophet algorithms, respectively. This study demonstrates some potential applications for forecasting models for workforce health monitoring, intervention assessment, and injury prevention.
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Affiliation(s)
- Pranav Madhav Kuber
- Department of Industrial and Systems Engineering, Rochester Institute of Technology, Rochester, NY 14623, USA
| | - Abhineet Rajendra Kulkarni
- Department of Computer & Information Science & Engineering, University of Florida, Gainesville, FL 32611, USA
| | - Ehsan Rashedi
- Department of Industrial and Systems Engineering, Rochester Institute of Technology, Rochester, NY 14623, USA
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2
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Kuber PM, Rashedi E. Training and Familiarization with Industrial Exoskeletons: A Review of Considerations, Protocols, and Approaches for Effective Implementation. Biomimetics (Basel) 2024; 9:520. [PMID: 39329542 PMCID: PMC11430590 DOI: 10.3390/biomimetics9090520] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/15/2024] [Revised: 08/25/2024] [Accepted: 08/27/2024] [Indexed: 09/28/2024] Open
Abstract
Effective training programs are essential for safely integrating exoskeletons (EXOs) in industrial workplaces. Since the effects of wearable systems depend highly upon their proper use, lack of training of end-users may cause adverse effects on users. We reviewed articles that incorporated training and familiarization protocols to train novices on proper operation/use of EXOs. Findings showed variation in training methods that were implemented to train study participants in EXO evaluation studies. Studies also indicate that multiple (up to four) sessions may be needed for novice EXO wearers to match movement patterns of experts, and training can offer benefits in enhancing motor learning in novices. Biomechanical assessments and ergonomic evaluations can be helpful in developing EXO-specific training protocols by determining training parameters (duration/number of sessions and task difficulty). Future directions include development of personalized training approaches by assessing user behavior/performance through integration of emerging sensing technologies. Application of simulators and use of data-driven approaches for customizing training protocols to individuals, tasks, and EXO design are provided along with a comprehensive training framework. Discussed elements in this article can be helpful to exoskeleton researchers in familiarizing novice users to EXOs prior to evaluation, and to practitioners in developing protocols for training workforce.
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Affiliation(s)
| | - Ehsan Rashedi
- Rochester Institute of Technology, 1 Lomb Memorial Dr, Rochester, NY 14623, USA;
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3
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Di Natali C, Buratti G, Dellera L, Caldwell D. Equivalent weight: Application of the assessment method on real task conducted by railway workers wearing a back support exoskeleton. APPLIED ERGONOMICS 2024; 118:104278. [PMID: 38626669 DOI: 10.1016/j.apergo.2024.104278] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/18/2023] [Revised: 03/21/2024] [Accepted: 03/23/2024] [Indexed: 04/18/2024]
Abstract
Commonly used risk indexes, such as the NIOSH Lifting Index, do not capture the effect of exoskeletons. This makes it difficult for Health and Safety professionals to rigorously assess the benefit of such devices. The community requires a simple method to assess the effectiveness of back-support exoskeleton's (BSE) in possibly reducing ergonomic risk. The method introduced in this work is termed "Equivalent Weight" (EqW) and it proposes an interpretation of the effect built on the benefit delivered through reduced activation of the erector spinae (ES). This manifests itself as an apparent reduction of the lifted load perceived by the wearer. This work presents a pilot study where a practical application of the EqW method is used to assess the ergonomic risk in manual material handling (MMH) when using a back support exoskeleton (StreamEXO). The results are assessed by combining observational measurements from on-site testing with five different workers and quantitative measures of the muscle activity reduction achieved during laboratory evaluation with ten workers. These results will show that when lifting, lowering, and carrying a 19 kg load the StreamEXO can reduce risk by up to two levels (from "high" to "low") in the target sub-tasks. The Lifting index (LI) was reduced up to 64% when examining specific sub-tasks and the worker's movement conduction.
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Affiliation(s)
- Christian Di Natali
- Dept of Advanced Robotics, Istituto Italiano di Tecnologia, Via S. Quirico, 19D, Genoa, 16163, Italy.
| | - Giorgio Buratti
- Scuola del Design, Politecnico di Milano, Via Giuseppe Candiani, 72, Milan, 20158, Italy; ErgoDesign S.a.s, Via Monte Pasubio, 5, Dalmine, BG, 24044, Italy
| | - Luca Dellera
- ErgoDesign S.a.s, Via Monte Pasubio, 5, Dalmine, BG, 24044, Italy
| | - Darwin Caldwell
- Dept of Advanced Robotics, Istituto Italiano di Tecnologia, Via S. Quirico, 19D, Genoa, 16163, Italy
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Govaerts R, De Bock S, Provyn S, Vanderborght B, Roelands B, Meeusen R, De Pauw K. The impact of an active and passive industrial back exoskeleton on functional performance. ERGONOMICS 2024; 67:597-618. [PMID: 37480301 DOI: 10.1080/00140139.2023.2236817] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/18/2023] [Accepted: 07/10/2023] [Indexed: 07/24/2023]
Abstract
Due to differences in actuation and design, active and passive industrial back exoskeletons could influence functional performance, i.e., work performance, perceived task difficulty, and discomfort, differently. Therefore, this study investigated and compared the impact of the active CrayX (7 kg) and passive Paexo Back (4.5 kg) on functional performance. Eighteen participants performed twelve work-related tasks with both types of exoskeletons and without (NoExo). The CrayX hindered work performance up to 22% in multiple tasks, compared to the Paexo Back and NoExo, while work performance between NoExo and the Paexo Back condition was more comparable, except for stair climbing (13% hindrance). Perceived task difficulty and discomfort seldomly varied between both exoskeletons. Although the CrayX shows promise to benefit workers, limitations in hindrance and comfort should first be addressed. The Paexo Back has demonstrated an advantage in certain static tasks. However, increasing its potential across a broader range of tasks seems warranted.Practitioner Summary: Differences between industrial back exoskeletons with regard to functional performance, i.e. work performance, discomfort and perceived task difficulty, were investigated by evaluating the active CrayX and passive Paexo Back back exoskeletons. The CrayX significantly hindered functional performance, while the Paexo Back seldomly affected functional performance.Abbreviations: WMSD: Work-related musculoskeletal disorder; NoExo: No Exoskeleton; GD: General discomfort; PTD: Perceived task difficulty; BMI: Body Mass Index.
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Affiliation(s)
- Renée Govaerts
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Sander De Bock
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | | | - Bram Vanderborght
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and IMEC, Brussels, Belgium
| | - Bart Roelands
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Romain Meeusen
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Kevin De Pauw
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
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Shakourisalim M, Martinez KB, Golabchi A, Tavakoli M, Rouhani H. Estimation of lower back muscle force in a lifting task using wearable IMUs. J Biomech 2024; 167:112077. [PMID: 38599020 DOI: 10.1016/j.jbiomech.2024.112077] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/19/2023] [Revised: 03/16/2024] [Accepted: 04/03/2024] [Indexed: 04/12/2024]
Abstract
Low back pain is commonly reported in occupational settings due to factors such as heavy lifting and poor ergonomic practices, often resulting in significant healthcare expenses and lowered productivity. Assessment tools for human motion and ergonomic risk at the workplace are still limited. Therefore, this study aimed to assess lower back muscle and joint reaction forces in laboratory conditions using wearable inertial measurement units (IMUs) during weight lifting, a frequently high-risk workplace task. Ten able-bodied participants were instructed to lift a 28 lbs. box while surface electromyography sensors, IMUs, and a camera-based motion capture system recorded their muscle activity and body motion. The data recorded by IMUs and motion capture system were used to estimate lower back muscle and joint reaction forces via musculoskeletal modeling. Lower back muscle patterns matched well with electromyography recordings. The normalized mean absolute differences between muscle forces estimated based on measurements of IMUs and cameras were less than 25 %, and the statistical parametric mapping results indicated no significant difference between the forces estimated by both systems. However, abrupt changes in motion, such as lifting initiation, led to significant differences (p < 0.05) between the muscle forces. Furthermore, the maximum L5-S1 joint reaction force estimated using IMU data was significantly lower (p < 0.05) than those estimated by cameras during weight lifting and lowering. The study showed how kinematic errors from IMUs propagated through the musculoskeletal model and affected the estimations of muscle forces and joint reaction forces. Our findings showed the potential of IMUs for in-field ergonomic risk evaluations.
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Affiliation(s)
- Maryam Shakourisalim
- Department of Mechanical Engineering, University of Alberta, Edmonton, AB T6G 1H9, Canada
| | - Karla Beltran Martinez
- Department of Mechanical Engineering, University of Alberta, Edmonton, AB T6G 1H9, Canada
| | - Ali Golabchi
- Department of Civil and Environmental Engineering, University of Alberta, Edmonton, AB T6G 1H9, Canada; EWI Works International Inc., Edmonton, Alberta T6G 1H9, Canada
| | - Mahdi Tavakoli
- Department of Electrical & Computer Engineering, University of Alberta, Edmonton, AB T6G 1H9, Canada
| | - Hossein Rouhani
- Department of Mechanical Engineering, University of Alberta, Edmonton, AB T6G 1H9, Canada; Glenrose Rehabilitation Hospital, Edmonton, AB T5G 0B7, Canada.
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Mohammed El Husaini M, Maberry A, Martin AE. Validation of a modified visual analogue scale to measure user-perceived comfort of a lower-limb exoskeleton. Sci Rep 2023; 13:20484. [PMID: 37993504 PMCID: PMC10665473 DOI: 10.1038/s41598-023-47430-z] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/07/2023] [Accepted: 11/14/2023] [Indexed: 11/24/2023] Open
Abstract
User perceived exoskeleton comfort is likely important for device acceptance, but there is currently no validated instrument to measure it. The Visual Analogue Scale (VAS) is an existing tool to measure subjective human feedback by asking the user to mark a point on a line with each end of the line representing an opposing anchor statement. It can be modified to show the previous response, allowing the subject to directly indicate if the current condition is better or worse than the previous one. The goal of this study was to determine how well the modified VAS could measure user-perceived comfort as the exoskeleton control parameters were varied. To validate the survey, 14 healthy subjects walked in a pair of ankle exoskeletons with approximately ten distinct sets of control parameters tested in a prescribed order. Each set of control parameters was tested twice. After each trial, user-perceived comfort was measured using a two-question VAS survey. The repeatability coefficient was approximately 40 mm, similar to the total range of responses. The results were also inconsistent, with relative rankings between consecutive pairs of conditions matching for approximately 50% of comparisons. Thus, as tested, the VAS was not repeatable or consistent. It is possible that subject adaptation within the trial and over the course of the experiment may have impacted the results. Additional work is needed to develop a repeatable method to measure comfort and to determine how perceived comfort varies as subjects' gain exoskeleton experience.
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Affiliation(s)
| | - Axl Maberry
- Department of Mechanical Engineering, Pennsylvania State University, University Park, PA, 16802, USA
| | - Anne E Martin
- Department of Mechanical Engineering, Pennsylvania State University, University Park, PA, 16802, USA.
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Kuber PM, Rashedi E. Alterations in Physical Demands During Virtual/Augmented Reality-Based Tasks: A Systematic Review. Ann Biomed Eng 2023; 51:1910-1932. [PMID: 37486385 DOI: 10.1007/s10439-023-03292-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/03/2023] [Accepted: 06/19/2023] [Indexed: 07/25/2023]
Abstract
The digital world has recently experienced a swift rise in worldwide popularity due to Virtual (VR) and Augmented Reality (AR) devices. However, concrete evidence about the effects of VR/AR devices on the physical workload imposed on the human body is lacking. We reviewed 27 articles that evaluated the physical impact of VR/AR-based tasks on the users using biomechanical sensing equipment and subjective tools. Findings revealed that movement and muscle demands (neck and shoulder) varied in seven and five studies while using VR, while in four and three studies during AR use, respectively, compared to traditional methods. User discomfort was also found in seven VR and three AR studies. Outcomes indicate that interface and interaction design, precisely target locations (gestures, viewing), design of virtual elements, and device type (location of CG as in Head-Mounted Displays) influence these alterations in neck and shoulder regions. Recommendations based on the review include developing comfortable reach envelopes for gestures, improving wearability, and studying temporal effects of repetitive movements (such as effects on fatigue and stability). Finally, a guideline is provided to assist researchers in conducting effective evaluations. The presented findings from this review could benefit designers/evaluations working towards developing more effective VR/AR products.
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Affiliation(s)
- Pranav Madhav Kuber
- Biomechanics and Ergonomics Lab, Industrial and Systems Engineering Department, Rochester Institute of Technology, 1 Lomb Memorial Dr, Rochester, NY, 14623, USA
| | - Ehsan Rashedi
- Biomechanics and Ergonomics Lab, Industrial and Systems Engineering Department, Rochester Institute of Technology, 1 Lomb Memorial Dr, Rochester, NY, 14623, USA.
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Kuber PM, Alemi MM, Rashedi E. A Systematic Review on Lower-Limb Industrial Exoskeletons: Evaluation Methods, Evidence, and Future Directions. Ann Biomed Eng 2023:10.1007/s10439-023-03242-w. [PMID: 37248409 DOI: 10.1007/s10439-023-03242-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/06/2023] [Accepted: 05/14/2023] [Indexed: 05/31/2023]
Abstract
Industrial tasks that involve frequent sitting/standing transitions and squatting activities can benefit from lower-limb industrial exoskeletons; however, their use is not as widespread as their upper-body counterparts. In this review, we examined 23 articles that evaluated the effects of using Wearable Chair (WC) and Squat-assist (SA) exoskeletons. Evaluations mainly included assessment of muscular demands in the thigh, shank, and upper/lower back regions. Both types of devices were found to lessen muscular demands in the lower body by 30-90%. WCs also reduced low-back demands (~ 37%) and plantar pressure (54-80%) but caused discomfort/unsafe feeling in participants. To generalize outcomes, we suggest standardizing approaches used for evaluating the devices. Along with addressing low adoption through design upgrades (e.g., ground and body supports/attachments), we recommend that researchers thoroughly evaluate temporal effects on muscle fatigue, metabolic rate, and stability of wearers. Although lower-limb exoskeletons were found to be beneficial, discrepancies in experimental protocols (posture/task/measures) were discovered. We also suggest simulating more realistic conditions, such as walking/sitting interchangeability for WCs and lifting loads for SA devices. The presented outcomes could help improve the design/evaluation approaches, and implementation of lower limb wearable devices across industries.
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Affiliation(s)
- Pranav Madhav Kuber
- Biomechanics and Ergonomics Lab, Industrial and Systems Engineering Department, Rochester Institute of Technology, 1 Lomb Memorial Dr, Rochester, NY, 14623, USA
| | - Mohammad Mehdi Alemi
- Department of Orthopaedic Surgery, Harvard Medical School, Boston, MA, USA
- Training Services, MathWorks, Natick, MA, USA
| | - Ehsan Rashedi
- Biomechanics and Ergonomics Lab, Industrial and Systems Engineering Department, Rochester Institute of Technology, 1 Lomb Memorial Dr, Rochester, NY, 14623, USA.
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Norris C. Annals of Biomedical Engineering 2022 Year in Review. Ann Biomed Eng 2023; 51:865-867. [PMID: 37010647 DOI: 10.1007/s10439-023-03191-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/16/2023] [Accepted: 03/21/2023] [Indexed: 04/04/2023]
Affiliation(s)
- Carly Norris
- Department of Biomedical Engineering and Mechanics, Virginia Tech, Blacksburg, VA, 24060, USA.
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De Bock S, Ampe T, Rossini M, Tassignon B, Lefeber D, Rodriguez-Guerrero C, Roelands B, Geeroms J, Meeusen R, De Pauw K. Passive shoulder exoskeleton support partially mitigates fatigue-induced effects in overhead work. APPLIED ERGONOMICS 2023; 106:103903. [PMID: 36148702 DOI: 10.1016/j.apergo.2022.103903] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/22/2022] [Revised: 09/04/2022] [Accepted: 09/09/2022] [Indexed: 06/16/2023]
Abstract
BACKGROUND Despite the potential of occupational passive shoulder exoskeletons (PSEs) to relieve overhead work, limited insights in overhead work precision performance impedes large-scale adoption in industry. OBJECTIVE To investigate the effect of PSE support on the reduction in task performance caused by physical fatigue. METHODS This experiment consisted of a randomized, counterbalanced cross-over design comparing Exo4Work PSE support and no support, in a physically fatigued state and a control condition. Precision performance was determined using execution speed and drilling errors. Muscle activity and shoulder joint kinematics were recorded. RESULTS Fatigue altered task performance, shoulder joint kinematics, muscle activity and subjective experience during overhead work. The PSE support mitigated the fatigue-induced changes in shoulder kinematics. Additionally, a part of the fatigue-induced co-activation of shoulder stabilizing muscles was avoided when working with the PSE. The PSE support also reduced the activity of the anterior and medial deltoid. CONCLUSION Physical fatigue provokes compensatory movements and increased co-contraction of muscles when executing overhead work. These fatigue-induced alterations are generally believed to increase the overall musculoskeletal load. The support provided by the PSE reduced muscle activity of muscles working to elevate the arm, but also partially mitigated those fatigue-induced effects. SIGNIFICANCE This study shows that the effect of PSE support on precision performance is limited, and suggested that, apart from the known effects of PSE support during overhead work, wearing the exoskeleton in a physically fatigued state may provide additional advantages.
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Affiliation(s)
- Sander De Bock
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Toon Ampe
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Marco Rossini
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Bruno Tassignon
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Dirk Lefeber
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Carlos Rodriguez-Guerrero
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Bart Roelands
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Joost Geeroms
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Romain Meeusen
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Kevin De Pauw
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium.
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