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Garosi E, Kazemi Z, Mazloumi A, Keihani A. Changes in Neck and Shoulder Muscles Fatigue Threshold When Using a Passive Head/Neck Supporting Exoskeleton During Repetitive Overhead Tasks. HUMAN FACTORS 2024; 66:2269-2282. [PMID: 37955578 DOI: 10.1177/00187208231213728] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/14/2023]
Abstract
OBJECTIVE This study aimed to investigate the effects of a head/neck supporting exoskeleton (HNSE) on the electromyographic fatigue threshold (EMGFT) of the neck and shoulder muscles during a simulated overhead work task. BACKGROUND Overhead work is a well-known risk factor for neck and shoulder musculoskeletal disorders due to the excessive strain imposed on the muscles and joints in these regions. METHOD Fourteen healthy males performed a repetitive overhead nut fastening/unfastening task to exhaustion while wearing and not wearing the HNSE at two neck extension angles (40% and 80% of neck maximum range of motion). Electromyographic signals were continuously recorded from the right and left sternocleidomastoid (SCMR, SCML), splenius capitis (SCR, SCL), upper trapezius (UTR, UTL), and anterior deltoid (ADR, ADL) muscles. The normalized electromyographic amplitude (nEMG) data was time normalized, and a bisegmental linear regression was applied to determine the muscle fatigue break point. RESULTS The results showed a significant increase in fatigue threshold time in the SCMR (p < .001), SCML (p = .002), and UTR (p = .037) muscles when the HNSE was used. However, the EMGFT times for the right and left deltoid and left trapezius muscles showed a nonsignificant reduction due to the head/neck support exoskeleton use. In addition, the neck extension angle did not reveal a significant effect on muscles' EMGFT time. CONCLUSION Overall, the findings confirmed a significant delay in fatigue onset in sternocleidomastoid muscles, as measured by the electromyographic fatigue threshold. This finding suggests that the HNSE can be an effective ergonomic intervention for reducing the risk of musculoskeletal disorders in overhead workers. However, further studies are needed to investigate the effect of the HNSE at other neck extension angles and more realistic tasks to ensure the generalizability of our results. APPLICATION The present findings emphasize the application of the fatigue onset time to evaluate the effectiveness of ergonomic interventions, including exoskeletons, which can subsequently be utilized to alleviate postural demands and reduce the risk of musculoskeletal disorders.
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Affiliation(s)
- Ehsan Garosi
- Iran University of Medical Sciences, Tehran, Iran
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Hussain M, Kong YK, Park SS, Shim HH, Park J. Exoskeleton Usability Questionnaire: a preliminary evaluation questionnaire for the lower limb industrial exoskeletons. ERGONOMICS 2024; 67:1198-1207. [PMID: 38111360 DOI: 10.1080/00140139.2023.2289856] [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: 05/10/2023] [Accepted: 11/26/2023] [Indexed: 12/20/2023]
Abstract
Exoskeleton robots are a promising solution to reduce musculoskeletal disorders (MSDs) in different work environments, but a specific usability scale for evaluating them is lacking. This study aimed to develop and verify a preliminary Exoskeleton Usability Questionnaire (EUQ) for the lower limb exoskeletons by creating a draft survey questionnaire from existing questions in prior studies. An experiment was conducted with 20 participants who performed a specific task while wearing three lower limb robots and provided subjective feedback using the developed questionnaire. Data were analysed using exploratory and confirmatory factor analysis (CFA), resulting in a usability evaluation questionnaire for exoskeleton robots clustered into four main factors: mobility, adjustability, handling and safety. This study's findings are expected to be useful in evaluating the usability of the lower limb exoskeletons in both general production sites and agricultural work, which can aid in reducing the prevalence of lower limb MSDs.Practitioner Summary: This study developed a preliminary subjective usability evaluation questionnaire for exoskeleton robots. The questionnaire is clustered into four main factors: mobility, adjustability, handling and safety. These findings provide a valuable tool for assessing exoskeleton usability, potentially reducing musculoskeletal disorders (MSDs) in various work environments.
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Affiliation(s)
- Muhammad Hussain
- Department of Computer Science, University of York, York, UK
- Department of Industrial and Management Engineering, Incheon National University (INU), Incheon, Republic of Korea
| | - Yong-Ku Kong
- Department of Industrial Engineering, Sungkyunkwan University (SKKU), Suwon, Republic of Korea
| | - Sang-Soo Park
- Department of Industrial Engineering, Sungkyunkwan University (SKKU), Suwon, Republic of Korea
| | - Hyun-Ho Shim
- Department of Industrial Engineering, Sungkyunkwan University (SKKU), Suwon, Republic of Korea
| | - Jaehyun Park
- Department of Industrial and Management Engineering, Incheon National University (INU), Incheon, Republic of Korea
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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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Baltrusch SJ, Krause F, de Vries AW, de Looze MP. Arm-support exoskeleton reduces shoulder muscle activity in ceiling construction. ERGONOMICS 2024; 67:1051-1063. [PMID: 37938880 DOI: 10.1080/00140139.2023.2280443] [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: 04/14/2022] [Accepted: 11/02/2023] [Indexed: 11/10/2023]
Abstract
The objective of this study was to assess the efficacy and user's impression of an arm-support exoskeleton in complex and realistic ceiling construction tasks. 11 construction workers performed 9 tasks. We determined objective and subjective efficacy of the exoskeleton by measuring shoulder muscle activity and perceived exertion. User's impression was assessed by questionnaires on expected support, perceived support, perceived hindrance and future intention to use the exoskeleton. Wearing the exoskeleton yielded persistent reductions in shoulder muscle activity of up to 58% and decreased perceived exertion. Participants reported limited perceived hindrance by the exoskeleton, as also indicated by no increase in antagonistic muscle activity. The findings demonstrate the high potential of an arm-support exoskeleton for unloading the shoulder muscles when used in the dynamic and versatile working environment of a ceiling construction worker, which is in line with the consistent intention of the workers to use the exoskeleton in the future.Practitioner Summary: The majority of research focuses on the effect of using an arm-support exoskeleton during isolated postures and prescribed movements. We investigated the efficacy of an exoskeleton during a complex and realistic work, namely ceiling construction. Shoulder muscle activity was lower in almost all tasks when wearing the exoskeleton.
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Qiao J, Gan J. Subjective and fitting evaluation of a revised physical attachment interface for a passive exoskeleton chair. ERGONOMICS 2024:1-15. [PMID: 39088316 DOI: 10.1080/00140139.2024.2372460] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/31/2024] [Accepted: 06/17/2024] [Indexed: 08/03/2024]
Abstract
Passive exoskeleton chairs can alleviate fatigue, enhance efficiency, and reduce the risk of musculoskeletal diseases for workers standing for prolonged hours and have gradually been applied in recent years. In this study, by strategically distributing elastic and non-elastic fabrics, physical interfaces of the attachment system for the exoskeleton chair were revised to better adapt to bodily deformations and movements. We conducted an experiment using motion capture systems and subjective questionnaires to evaluate the performance of the initial and revised attachment systems of an exoskeleton chair worn by participants while performing multiple simulated assembly tasks. The results indicated that when wearing the revised one, some adverse effects on gait were significant reduced, as was the relative displacement of straps and discomfort in lumbar and abdominal, and system usability was improved, all of which were considered to be helpful in design to improve the performance of the attachment system in the future.
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Affiliation(s)
- Jinghua Qiao
- School of Mechanical Engineering, Sichuan University, Chengdu, China
| | - Jing Gan
- School of Mechanical Engineering, Sichuan University, Chengdu, China
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Garcia G, Arauz PG, Alvarez I, Encalada N, Vega S, Baldo M, Martin BJ. Effects of a passive upper-body exoskeleton on whole-body kinematics, leg muscle activity, and discomfort during a carrying task. PLoS One 2024; 19:e0304606. [PMID: 38990910 PMCID: PMC11238980 DOI: 10.1371/journal.pone.0304606] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/18/2023] [Accepted: 05/14/2024] [Indexed: 07/13/2024] Open
Abstract
OBJECTIVE To compare whole-body kinematics, leg muscle activity, and discomfort while performing a 10-min carrying task with and without a passive upper-body exoskeleton (CarrySuitⓇ), for both males and females. BACKGROUND Diverse commercial passive exoskeletons have appeared on the market claiming to assist lifting or carrying task. However, evidence of their impact on kinematics, muscle activity, and discomfort while performing these tasks are necessary to determine their benefits and/or limitations. METHOD Sixteen females and fourteen males carried a 15kg load with and without a passive exoskeleton during 10-min over a round trip route, in two non-consecutive days. Whole-body kinematics and leg muscle activity were evaluated for each condition. In addition, leg discomfort ratings were quantified before and immediately after the task. RESULTS The gastrocnemius and vastus lateralis muscle activity remained constant over the task with the exoskeleton. Without the exoskeleton a small decrease of gastrocnemius median activation was observed regardless of sex, and a small increase in static vastus lateralis activation was observed only for females. Several differences in sagittal, frontal, and transverse movements' ranges of motion were found between conditions and over the task. With the exoskeleton, ROM in the sagittal plane increased over time for the right ankle and pelvis for both sexes, and knees for males only. Thorax ROMs in the three planes were higher for females only when using the exoskeleton. Leg discomfort was lower with the exoskeleton than without. CONCLUSION The results revealed a positive impact on range of motion, leg muscle activity, and discomfort of the tested exoskeleton.
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Affiliation(s)
- Gabriela Garcia
- Departamento de Ingeniería Industrial, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
| | - Paul Gonzalo Arauz
- Department of Orthopaedics, Renaissance School of Medicine, Stony Brook University, New York, NY, United States of America
| | - Isabel Alvarez
- Departamento de Ingeniería Industrial, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
| | - Nicolas Encalada
- Departamento de Ingeniería Industrial, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
| | - Shirley Vega
- Departamento de Ingeniería Industrial, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
| | - Marco Baldo
- Departamento de Ingeniería Industrial, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
| | - Bernard J. Martin
- Department of Industrial and Operations Engineering, University of Michigan, Ann Arbor, Michigan, United States of America
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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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8
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Krimsky E, Collins SH. Elastic energy-recycling actuators for efficient robots. Sci Robot 2024; 9:eadj7246. [PMID: 38507474 DOI: 10.1126/scirobotics.adj7246] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/12/2023] [Accepted: 02/20/2024] [Indexed: 03/22/2024]
Abstract
Electric motors are widely used in robots but waste energy in many applications. We introduce an elastic energy-recycling actuator that maintains the versatility of motors while improving energy efficiency in cyclic tasks. The actuator comprises a motor in parallel with an array of springs that can be individually engaged and disengaged, while retaining stored energy, by pairs of low-power electroadhesive clutches. We developed a prototype actuator and tested it in five repetitive tasks with features common in robotic applications but difficult to perform efficiently. The actuator reduced power consumption by at least 50% in all cases and by 97% in the best case. Elastic energy recovery, controlled by low-power clutches, can improve the efficiency of mobile robots, assistive devices, and other engineered systems.
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Affiliation(s)
- Erez Krimsky
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
| | - Steven H Collins
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
- Department of Bioengineering, Stanford University, Stanford, CA 94305, USA
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9
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Mohamed Refai MI, Moya-Esteban A, van Zijl L, van der Kooij H, Sartori M. Benchmarking commercially available soft and rigid passive back exoskeletons for an industrial workplace. WEARABLE TECHNOLOGIES 2024; 5:e6. [PMID: 38510984 PMCID: PMC10952052 DOI: 10.1017/wtc.2024.2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 06/20/2023] [Revised: 12/22/2023] [Accepted: 01/19/2024] [Indexed: 03/22/2024]
Abstract
Low-back pain is a common occupational hazard for industrial workers. Several studies show the advantages of using rigid and soft back-support passive exoskeletons and exosuits (exos) to reduce the low-back loading and risk of injury. However, benefits of using these exos have been shown to be task-specific. Therefore, in this study, we developed a benchmarking approach to assess exos for an industrial workplace at Hankamp Gears B.V. We assessed two rigid (Laevo Flex, Paexo back) and two soft (Auxivo Liftsuit 1.0, and Darwing Hakobelude) exos for tasks resembling the workplace. We measured the assistive moment provided by each exo and their respective influence on muscle activity as well as the user's perception of comfort and exertion. Ten participants performed four lifting tasks (Static hold, Asymmetric, Squat, and Stoop), while their electromyography and subjective measures were collected. The two rigid exos provided the largest assistance during the Dynamic tasks. Reductions in erector spinae activity were seen to be task-specific, with larger reductions for the two rigid exos. Overall, Laevo Flex offered a good balance between assistive moments, reductions in muscle activity, as well as user comfort and reductions in perceived exertion. Thus, we recommend benchmarking exos for intended use in the industrial workplace. This will hopefully result in a better adoption of the back-support exoskeletons in the workplace and help reduce low-back pain.
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Affiliation(s)
| | - Alejandro Moya-Esteban
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Lynn van Zijl
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Herman van der Kooij
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Massimo Sartori
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
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Dooley S, Kim S, Nussbaum MA, Madigan ML. Occupational arm-support and back-support exoskeletons elicit changes in reactive balance after slip-like and trip-like perturbations on a treadmill. APPLIED ERGONOMICS 2024; 115:104178. [PMID: 37984085 DOI: 10.1016/j.apergo.2023.104178] [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: 07/12/2023] [Revised: 10/24/2023] [Accepted: 11/10/2023] [Indexed: 11/22/2023]
Abstract
The purpose of this study was to investigate the effects of arm- and back-support exoskeletons on reactive balance after slip-like and trip-like perturbations on a treadmill. Twenty-eight participants used two arm-support exoskeletons and two back-support exoskeletons with support (i.e., assistive joint torque) activated or deactivated. In each exoskeleton condition, as well in as a control without any exoskeleton, participants were exposed to 12 treadmill perturbations during upright standing. The exoskeletons did not significantly increase the probability of a failed recovery after the perturbations compared to wearing no exoskeleton, but did elicit effects on kinematic variables that suggested balance recovery was more challenging. Moreover, reactive balance differed when wearing back-support and arm-support exoskeletons, and when wearing an activated exoskeleton compared to a deactivated exoskeleton. Together, our results suggest these exoskeletons may increase the risk of slip- and trip-induced falls. The potential mechanisms of this increased risk are discussed and include the added mass and/or motion restrictions associated with wearing these exoskeletons. Our results do not support the assistive hip/back extension moment provided by back-support exoskeletons adversely affecting fall risk.
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Affiliation(s)
- Stephen Dooley
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA.
| | - Sunwook Kim
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA.
| | - Maury A Nussbaum
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA.
| | - Michael L Madigan
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA.
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Arauz PG, Chavez G, Reinoso V, Ruiz P, Ortiz E, Cevallos C, Garcia G. Influence of a passive exoskeleton on kinematics, joint moments, and self-reported ratings during a lifting task. J Biomech 2024; 162:111886. [PMID: 38043494 DOI: 10.1016/j.jbiomech.2023.111886] [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: 04/03/2023] [Revised: 10/30/2023] [Accepted: 11/27/2023] [Indexed: 12/05/2023]
Abstract
It was found that the Auxivo LiftSuit reduced the load on the back and hip muscles when lifting heavy loads, but its effect on lower body kinematics, joint moments, and self-reported ratings was unclear. The purpose of this study was to assess the effect of this passive lift-exoskeleton design, on lower body kinematics, joint moments, and self-reported ratings during lifting of heavy loads. Twenty healthy subjects performed lifting of heavy loads with and without the exoskeleton under surveillance of a motion capture system. Medium and maximum level adjustments of the exoskeleton, as well as no exoskeleton use were analyzed. Our results indicate significant reduction (p <.01) in pelvis segment tilt and hip flexion ROM with the exoskeleton at maximum level adjustment in males during lifting. Lumbosacral flexion moment ranges were significantly decreased (p <.013) with the exoskeleton at maximum and medium level adjustment in males during lifting. The general user impressions were mostly positive, with participants reporting that it was easier to perform the task with the exoskeleton than without it (p <.0.001), and preferring and recommending the exoskeleton for the task. Although our findings may suggest negative effects of the Auxivo LiftSuit in males and females due to a ROM restriction and loose fit, respectively, it does not mean that the Auxivo LiftSuit is not useful for lifting tasks. Further design improvements are required to allow full range of motion of hips and pelvis, as well to provide better adjustment and level of support in female users.
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Affiliation(s)
- Paul G Arauz
- Departamento de Ingeniería Mecánica, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador.
| | - Guillermo Chavez
- Departamento de Ingeniería Industrial, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
| | - Valentina Reinoso
- Departamento de Ingeniería Industrial, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
| | - Pablo Ruiz
- Laboratorio de Análisis de Movimiento, CELMOST Vivir, Quito, Ecuador
| | - Esteban Ortiz
- Department of Bioengineering, Rice University, Houston, United States
| | - Carlos Cevallos
- Faculté des Sciences de la Motricité, Université libre de Bruxelles, Bruxelles, Belgium
| | - Gabriela Garcia
- Departamento de Ingeniería Industrial, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
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12
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Govaerts R, Turcksin T, Vanderborght B, Roelands B, Meeusen R, De Pauw K, De Bock S. Evaluating cognitive and physical work performance: A comparative study of an active and passive industrial back-support exoskeleton. WEARABLE TECHNOLOGIES 2023; 4:e27. [PMID: 38487761 PMCID: PMC10936324 DOI: 10.1017/wtc.2023.25] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/22/2023] [Revised: 10/25/2023] [Accepted: 11/23/2023] [Indexed: 03/17/2024]
Abstract
Occupational back-support exoskeletons, categorized as active or passive, hold promise for mitigating work-related musculoskeletal disorders. However, their impact on combined physical and cognitive aspects of industrial work performance remains inadequately understood, especially regarding potential differences between exoskeleton categories. A randomized, counterbalanced cross-over study was conducted, comparing the active CrayX, passive Paexo Back, and a no exoskeleton condition. A 15-min dual task was used to simulate both cognitive and physical aspects of industrial work performance. Cognitive workload parameters included reaction time, accuracy, and subjective measures. Physical workload included movement duration, segmented in three phases: (1) walking to and grabbing the box, (2) picking up, carrying, and putting down the box, and (3) returning to the starting point. Comfort of both devices was also surveyed. The Paexo significantly increased movement duration in the first segment compared to NoExo (Paexo = 1.55 ± 0.19 s; NoExo = 1.32 ± 0.17 s; p < .01). Moreover, both the Paexo and CrayX increased movement duration for the third segment compared to NoExo (CrayX = 1.70 ± 0.27 s; Paexo = 1.74 ± 0.27 s, NoExo = 1.54 ± 0.23 s; p < .01). No significant impact on cognitive outcomes was observed. Movement Time 2 was not significantly affected by both exoskeletons. Results of the first movement segment suggest the Paexo may hinder trunk bending, favoring the active device for dynamic movements. Both devices may have contributed to a higher workload as the movement duration in the third segment increased compared to NoExo.
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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
| | - Tom Turcksin
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Flanders Make AugmentX, 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
| | - Sander De Bock
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
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13
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Li YY, Gan J. Effect of wearable chair on gait, balance, and discomfort of new users during level walking with anterior loads. JOURNAL OF SAFETY RESEARCH 2023; 87:27-37. [PMID: 38081701 DOI: 10.1016/j.jsr.2023.08.013] [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: 10/16/2022] [Revised: 05/22/2023] [Accepted: 08/25/2023] [Indexed: 12/18/2023]
Abstract
INTRODUCTION Walking with anterior loads is common in industrial scenarios, but as exoskeletons are increasingly used in work environments to alleviate musculoskeletal disorders (MSDs), this new "human-robot" system composed of the human body and exoskeleton may be associated with new risks and harm that warrant further investigation. Therefore, this study will discuss the effect of a wearable chair on the gait, balance, and discomfort of new users with different weights of anterior loads during level walking. METHOD Twenty-two healthy subjects (sex balanced) participated in the experiment. Each exposure comprised one of two exoskeleton states (with/without) and four load conditions: No carried load, carrying an empty box (0.3 kg), 5%Body Weight (BW), and 10%BW. The order of exoskeleton states and load conditions was randomly assigned. Using an eight-camera motion capture system to record the entire movement. And the subjective discomfort and perceived balance after each exposure were recorded on an 11-point numeric rating scale, respectively. Using SPSS 26.0 software (IBM Inc., Chicago) to conduct statistical analyses. RESULTS Level walking with a wearable chair in different load conditions significantly affected gait parameters (like cadence) and gait balance. The perceived balance decreased with the exoskeleton, consistent with objective results. For subjective discomfort, wearing the exoskeleton significantly impacted global discomfort. Also, it increased the local discomfort of the shoulders, waist, thighs, shanks, and feet/ankles. CONCLUSIONS For new users, the risk of losing balance or falling may be increased when wearing an exoskeleton for non-target task behaviors (level walking/anterior load), and caution is recommended when the anterior load exceeds 5% BW. PRACTICAL APPLICATION The proposed strategy for assessing human gait, balance, and discomfort in wearable chairs may be applied during the iterative design of the product. These controls will help develop training programs and implementation guidelines for this exoskeleton type.
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Affiliation(s)
- Ying-Yi Li
- School of Mechanical Engineering, Sichuan University, Chengdu, China.
| | - Jing Gan
- School of Mechanical Engineering, Sichuan University, Chengdu, China.
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Xiang X, Tanaka M, Umeno S, Kikuchi Y, Kobayashi Y. Dynamic assessment for low back-support exoskeletons during manual handling tasks. Front Bioeng Biotechnol 2023; 11:1289686. [PMID: 38026894 PMCID: PMC10667710 DOI: 10.3389/fbioe.2023.1289686] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/06/2023] [Accepted: 11/01/2023] [Indexed: 12/01/2023] Open
Abstract
Exoskeletons can protect users' lumbar spine and reduce the risk of low back injury during manual lifting tasks. Although many exoskeletons have been developed, their adoptability is limited by their task- and movement-specific effects on reducing burden. Many studies have evaluated the safety and effectiveness of an exoskeleton using the peak/mean values of biomechanical variables, whereas the performance of the exoskeleton at other time points of the movement has not been investigated in detail. A functional analysis, which presents discrete time-series data as continuous functions, makes it possible to highlight the features of the movement waveform and determine the difference in each variable at each time point. This study investigated an assessment method for exoskeletons based on functional ANOVA, which made it possible to quantify the differences in the biomechanical variables throughout the movement when using an exoskeleton. Additionally, we developed a method based on the interpolation technique to estimate the assistive torque of an exoskeleton. Ten men lifted a 10-kg box under symmetric and asymmetric conditions five times each. Lumbar load was significantly reduced during all phases (flexion, lifting, and laying) under both conditions. Additionally, reductions in kinematic variables were observed, indicating the exoskeleton's impact on motion restrictions. Moreover, the overlap F-ratio curves of the lumbar load and kinematic variables imply that exoskeletons reduce the lumbar load by restricting the kinematic variables. The results suggested that at smaller trunk angles (<25°), an exoskeleton neither significantly reduces the lumbar load nor restricts trunk movement. Our findings will help increasing exoskeleton safety and designing effective products for reducing lumbar injury risks.
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Affiliation(s)
- Xiaohan Xiang
- Institute of Agricultural Machinery, National Agriculture and Food Research Organization (NARO), Saitama, Japan
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15
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Lazzaroni M, Chini G, Draicchio F, Di Natali C, Caldwell DG, Ortiz J. Control of a Back-Support Exoskeleton to Assist Carrying Activities. IEEE Int Conf Rehabil Robot 2023; 2023:1-6. [PMID: 37941236 DOI: 10.1109/icorr58425.2023.10304691] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2023]
Abstract
Back-support exoskeletons are commonly used in the workplace to reduce low back pain risk for workers performing demanding activities. However, for the assistance of tasks differing from lifting, back-support exoskeletons potential has not been exploited extensively. This work focuses on the use of an active back-support exoskeleton to assist carrying. A control strategy is designed that modulates the exoskeleton torques to comply with the task assistance requirements. In particular, two gait phase detection frameworks are exploited to adapt the exoskeleton assistance according to the legs' motion. The control strategy is assessed through an experimental analysis on ten subjects. Carrying task is performed without and with the exoskeleton assistance. Results prove the potential of the presented control in assisting the task without hindering the gait movement and improving the usability experienced by users. Moreover, the exoskeleton assistance significantly reduces the lumbar load associated with the task, demonstrating its promising use for risk mitigation in the workplace.
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Govaerts R, De Bock S, Stas L, El Makrini I, Habay J, Van Cutsem J, Roelands B, Vanderborght B, Meeusen R, De Pauw K. Work performance in industry: The impact of mental fatigue and a passive back exoskeleton on work efficiency. APPLIED ERGONOMICS 2023; 110:104026. [PMID: 37060653 DOI: 10.1016/j.apergo.2023.104026] [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: 06/15/2022] [Revised: 04/04/2023] [Accepted: 04/09/2023] [Indexed: 06/19/2023]
Abstract
Mental fatigue (MF) is likely to occur in the industrial working population. However, the link between MF and industrial work performance has not been investigated, nor how this interacts with a passive lower back exoskeleton used during industrial work. Therefore, to elucidate its potential effect(s), this study investigated the accuracy of work performance and movement duration through a dual task paradigm and compared results between mentally fatigued volunteers and controls, with and without the exoskeleton. No main effects of MF and the exoskeleton were found. However, when mentally fatigued and wearing the exoskeleton, movement duration significantly increased compared to the baseline condition (βMF:Exo = 0.17, p = .02, ω2 = .03), suggesting an important interaction between the exoskeleton and one's psychobiological state. Importantly, presented data indicate a negative effect on production efficiency through increased performance time. Further research into the cognitive aspects of industrial work performance and human-exoskeleton interaction is therefore warranted.
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Affiliation(s)
- Renée Govaerts
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Sander De Bock
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Lara Stas
- Biostatistics and Medical Informatics Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Support for Quantitative and Qualitative Research, Core Facility of the Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Ilias El Makrini
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Jelle Habay
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Jeroen Van Cutsem
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Vital Signs and Performance Monitoring Research Unit, LIFE Department, Royal Military Academy, Pleinlaan 2, B-1050, Belgium.
| | - Bart Roelands
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Bram Vanderborght
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, B-1050, Belgium.
| | - Romain Meeusen
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Kevin De Pauw
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
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Wolf DN, Fine SJ, Ice CC, Slaughter PR, Rodzak KM, Zelik KE. Integrating Exosuit Capabilities into Clothing to Make Back Relief Accessible to Workers Unserved by Existing Exoskeletons: Design and Preliminary Evaluation. IISE Trans Occup Ergon Hum Factors 2023; 11:94-107. [PMID: 38149915 DOI: 10.1080/24725838.2023.2295859] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 04/13/2023] [Accepted: 12/13/2023] [Indexed: 12/28/2023]
Abstract
OCCUPATIONAL APPLICATIONSWe developed a method for integrating back-assist exosuit capabilities into regular clothing to make musculoskeletal relief accessible to more workers. We demonstrated proof-of-concept that this uniform-integrated exosuit can be effective and usable. Existing occupational exosuits are standalone accessories worn on top of a user's clothing and are not suitable for all workers. Our newly developed sub-class of exosuit could be beneficial to workers who alternate between bending, lifting, and sitting tasks, or to those in customer- or patient-facing jobs where it is important for wearable technology to be discreet.
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Affiliation(s)
- Derek N Wolf
- Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
| | - Shimra J Fine
- Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
| | - Chad C Ice
- Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
| | - Paul R Slaughter
- Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
| | | | - Karl E Zelik
- Mechanical Engineering, Biomedical Engineering, Physical Medicine and Rehabilitation, Vanderbilt University, Nashville, TN, USA
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18
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Garcia G, Arauz PG, Alvarez I, Encalada N, Vega S, Martin BJ. Impact of a passive upper-body exoskeleton on muscle activity, heart rate and discomfort during a carrying task. PLoS One 2023; 18:e0287588. [PMID: 37352272 PMCID: PMC10289366 DOI: 10.1371/journal.pone.0287588] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/12/2022] [Accepted: 06/08/2023] [Indexed: 06/25/2023] Open
Abstract
OBJECTIVE The goal of this study was to compare erector spinae muscle fatigue, upper limb muscle activity, body areas discomfort, and heart rate during a 10-min carrying task with and without a passive upper-body exoskeleton (CarrySuitⓇ) while considering sex influences. BACKGROUND Passive exoskeletons are commercially available to assist lifting or carrying task. However, evidence of their impact on muscle activity, fatigue, heart rate and discomfort are scarce and/or do not concur during carrying tasks. METHOD Thirty participants (16 females and 14 male) performed a 10-min, 15kg load-carrying task with and without the exoskeleton in two non-consecutive days. Heart rate, and erector spinae, deltoid, biceps and brachioradialis muscle activity were recorded during the carrying tasks. In addition, erector spinae electromyography during an isometric hold test and discomfort ratings were measured before and after the task. RESULTS While without the exoskeleton upper limb muscle activity increased or remained constant during the carrying task and showing high peak activation for both males and females, a significant activity reduction was observed with the exoskeleton. Low back peak activation, heart rate and discomfort were lower with than without the exoskeleton. In males muscle activation was significantly asymmetric without the exoskeleton and more symmetric with the exoskeleton. CONCLUSION The tested passive exoskeleton appears to alleviate the physical workload and impact of carrying heavy loads on the upper limbs and lower back for both males and females.
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Affiliation(s)
- Gabriela Garcia
- Departamento de Ingeniería Industrial, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
| | - Paul Gonzalo Arauz
- Departamento de Ingeniería Mecánica, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
| | - Isabel Alvarez
- Departamento de Ingeniería Industrial, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
| | - Nicolas Encalada
- Departamento de Ingeniería Industrial, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
| | - Shirley Vega
- Departamento de Ingeniería Industrial, Colegio de Ciencias e Ingenierías, Universidad San Francisco de Quito USFQ, Quito, Ecuador
| | - Bernard J. Martin
- Department of Industrial and Operations Engineering, University of Michigan, Ann Arbor, Michigan, United States of America
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Kranenborg SE, Greve C, Reneman MF, Roossien CC. Side-effects and adverse events of a shoulder- and back-support exoskeleton in workers: A systematic review. APPLIED ERGONOMICS 2023; 111:104042. [PMID: 37146320 DOI: 10.1016/j.apergo.2023.104042] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/22/2022] [Revised: 04/20/2023] [Accepted: 04/27/2023] [Indexed: 05/07/2023]
Abstract
INTRODUCTION While the biomechanical effects of exoskeletons are well studied, research about potential side-effects and adverse events are limited. The aim of this systematic review was to provide an overview of the side-effects and adverse events on shoulder- and back-support exoskeletons during work tasks. METHODS Four in-field studies and 32 laboratory studies were included in this review, reporting on n = 18 shoulder exoskeletons, n = 9 back exoskeletons, n = 1 full body with a supernumerary arm, and n = 1 combination of shoulder and back exoskeleton. RESULTS The most frequent side-effect reported is discomfort (n = 30), followed by a limited usability of the exoskeleton (n = 16). Other identified side-effects and adverse events were changes in muscle activity, mobility, task performance, balance and posture, neurovascular supply, gait parameters and precision. An incorrect fit of the exoskeleton and the decreased degrees of freedom are most often reported as causes of these side-effects. Two studies did not find any side-effects. This review also showed that there are differences in the occurrence of side-effects in gender, age, and physical fitness. Most studies (89%) were conducted in a laboratory setting. Most studies (97%) measured short-term effects only. Psychological and social side-effects or adverse events were not reported. Side-effects and adverse events for active exoskeletons were understudied (n = 4). CONCLUSION It was concluded that the evidence for side-effects and adverse events is limited. If available, it mainly consists of reports of mild discomfort and limited usability. Generalisation is limited because studies were conducted in lab settings and measured short term only, and most participants were young male workers.
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Affiliation(s)
- S E Kranenborg
- University of Groningen, University Medical Center Groningen, Department of Human Movement Science, Hanzeplein 1, 9713 GZ, Groningen, the Netherlands
| | - C Greve
- University of Groningen, University Medical Center Groningen, Department of Human Movement Science, Hanzeplein 1, 9713 GZ, Groningen, the Netherlands; University of Groningen, University Medical Center Groningen, Department of Rehabilitation Medicine, Hanzeplein 1, 9713 GZ, Groningen, the Netherlands.
| | - M F Reneman
- University of Groningen, University Medical Center Groningen, Department of Rehabilitation Medicine, Hanzeplein 1, 9713 GZ, Groningen, the Netherlands
| | - C C Roossien
- University of Groningen, University Medical Center Groningen, Department of Human Movement Science, Hanzeplein 1, 9713 GZ, Groningen, the Netherlands
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Reimeir B, Calisti M, Mittermeier R, Ralfs L, Weidner R. Effects of back-support exoskeletons with different functional mechanisms on trunk muscle activity and kinematics. WEARABLE TECHNOLOGIES 2023; 4:e12. [PMID: 38487765 PMCID: PMC10936326 DOI: 10.1017/wtc.2023.5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/01/2022] [Revised: 11/25/2022] [Accepted: 02/05/2023] [Indexed: 03/17/2024]
Abstract
Musculoskeletal disorders constitute the leading work-related health issue. Mechanical loading of the lower back contributes as a major risk factor and is prevalent in many tasks performed in logistics. The study aimed to compare acute effects of exoskeletons with different functional mechanisms in a logistic task. Twelve young, healthy individuals participated in the study. Five exoskeletons with different functional mechanisms were tested in a logistic task, consisting of lifting, carrying, and lowering a 13 kg box. By using electromyography (EMG), mean muscle activities of four muscles in the trunk were analyzed. Additionally, kinematics by task completion time and range of motion (RoM) of the major joints and segments were investigated. A main effect was found for Musculus erector spinae, Musculus multifidus, and Musculus latissimus dorsi showing differences in muscle activity reductions between exoskeletons. Reduction in ES mean activity compared to baseline was primarily during lifting from ground level. The exoskeletons SoftExo Lift and Cray X also showed ES mean reduction during lowering the box. Prolonged task duration during the lifting phase was found for the exoskeletons BionicBack, SoftExo Lift, and Japet.W. Japet.W showed a trend in reducing hip RoM during that phase. SoftExo Lift caused a reduction in trunk flexion during the lifting phase. A stronger trunk inclination was only found during lifting from the table for the SoftExo Lift and the Cray X. In conclusion, muscle activity reductions by exoskeleton use should not be assessed without taking their designed force paths into account to correctly interpret the effects for long-term injury prevention.
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Affiliation(s)
- Benjamin Reimeir
- Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
- Department of Sport Science, University of Innsbruck, Innsbruck, Austria
| | - Maité Calisti
- Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
- Department of Sport Science, University of Innsbruck, Innsbruck, Austria
| | - Ronja Mittermeier
- Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
- Department of Sport Science, University of Innsbruck, Innsbruck, Austria
| | - Lennart Ralfs
- Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
| | - Robert Weidner
- Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
- Laboratory of Manufacturing Technology, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Hamburg, Germany
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21
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Luger T, Bär M, Seibt R, Rieger MA, Steinhilber B. Using a Back Exoskeleton During Industrial and Functional Tasks-Effects on Muscle Activity, Posture, Performance, Usability, and Wearer Discomfort in a Laboratory Trial. HUMAN FACTORS 2023; 65:5-21. [PMID: 33861139 PMCID: PMC9846378 DOI: 10.1177/00187208211007267] [Citation(s) in RCA: 17] [Impact Index Per Article: 17.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/26/2021] [Accepted: 03/10/2021] [Indexed: 05/30/2023]
Abstract
OBJECTIVE To investigate the effect of using a passive back-support exoskeleton (Laevo V2.56) on muscle activity, posture, heart rate, performance, usability, and wearer comfort during a course of three industrial tasks (COU; exoskeleton worn, turned-on), stair climbing test (SCT; exoskeleton worn, turned-off), timed-up-and-go test (TUG; exoskeleton worn, turned-off) compared to no exoskeleton. BACKGROUND Back-support exoskeletons have the potential to reduce work-related physical demands. METHODS Thirty-six men participated. Activity of erector spinae (ES), biceps femoris (BF), rectus abdominis (RA), vastus lateralis (VL), gastrocnemius medialis (GM), trapezius descendens (TD) was recorded by electromyography; posture by trunk, hip, knee flexion angles; heart rate by electrocardiography; performance by time-to-task accomplishment (s) and perceived task difficulty (100-mm visual analogue scale; VAS); usability by the System Usability Scale (SUS) and all items belonging to domains skepticism and user-friendliness of the Technology Usage Inventory; wearer comfort by the 100-mm VAS. RESULTS During parts of COU, using the exoskeleton decreased ES and BF activity and trunk flexion, and increased RA, GM, and TD activity, knee and hip flexion. Wearing the exoskeleton increased time-to-task accomplishment of SCT, TUG, and COU and perceived difficulty of SCT and TUG. Average SUS was 75.4, skepticism 11.5/28.0, user-friendliness 18.0/21.0, wearer comfort 31.1 mm. CONCLUSION Using the exoskeleton modified muscle activity and posture depending on the task applied, slightly impaired performance, and was evaluated mildly uncomfortable. APPLICATION These outcomes require investigating the effects of this passive back-supporting exoskeleton in longitudinal studies with longer operating times, providing better insights for guiding their application in real work settings.
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Affiliation(s)
- Tessy Luger
- University of Tübingen and University Hospital Tübingen,
Wilhelmstraße, Germany
| | - Mona Bär
- University of Tübingen and University Hospital Tübingen,
Wilhelmstraße, Germany
| | - Robert Seibt
- University of Tübingen and University Hospital Tübingen,
Wilhelmstraße, Germany
| | - Monika A. Rieger
- University of Tübingen and University Hospital Tübingen,
Wilhelmstraße, Germany
| | - Benjamin Steinhilber
- University of Tübingen and University Hospital Tübingen,
Wilhelmstraße, Germany
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Farris DJ, Harris DJ, Rice HM, Campbell J, Weare A, Risius D, Armstrong N, Rayson MP. A systematic literature review of evidence for the use of assistive exoskeletons in defence and security use cases. ERGONOMICS 2023; 66:61-87. [PMID: 35348442 DOI: 10.1080/00140139.2022.2059106] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/16/2021] [Accepted: 03/24/2022] [Indexed: 06/14/2023]
Abstract
Advances in assistive exoskeleton technology, and a boom in related scientific literature, prompted a need to review the potential use of exoskeletons in defence and security. A systematic review examined the evidence for successful augmentation of human performance in activities deemed most relevant to military tasks. Categories of activities were determined a priori through literature scoping and Human Factors workshops with military stakeholders. Workshops identified promising opportunities and risks for integration of exoskeletons into military use cases. The review revealed promising evidence for exoskeletons' capacity to assist with load carriage, manual lifting, and working with tools. However, the review also revealed significant gaps in exoskeleton capabilities and likely performance levels required in the use case scenarios. Consequently, it was recommended that a future roadmap for introducing exoskeletons to military environments requires development of performance criteria for exoskeletons that can be used to implement a human-centred approach to research and development.
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Affiliation(s)
- Dominic J Farris
- Sport & Health Sciences, College of Life & Environmental Sciences, University of Exeter, Exeter, UK
| | - David J Harris
- Sport & Health Sciences, College of Life & Environmental Sciences, University of Exeter, Exeter, UK
| | - Hannah M Rice
- Sport & Health Sciences, College of Life & Environmental Sciences, University of Exeter, Exeter, UK
| | | | | | - Debbie Risius
- Defence Science and Technology Laboratory, Salisbury, UK
| | - Nicola Armstrong
- Defence Science and Technology Laboratory, Salisbury, UK
- School of Sport, Health and Exercise Science, University of Portsmouth, Portsmouth, UK
| | - Mark P Rayson
- Human Social Sciences Research Capability Framework, BAE Systems, London, UK
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Madinei S, Nussbaum MA. Estimating lumbar spine loading when using back-support exoskeletons in lifting tasks. J Biomech 2023; 147:111439. [PMID: 36638578 DOI: 10.1016/j.jbiomech.2023.111439] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/12/2022] [Revised: 12/14/2022] [Accepted: 01/06/2023] [Indexed: 01/09/2023]
Abstract
Low-back pain (LBP) continues as the leading cause of work-related musculoskeletal disorders, and the high LBP burden is attributed largely to physical risk factors prevalent in manual material handling tasks. Industrial back-support exoskeletons (BSEs) are a promising ergonomic intervention to help control/prevent exposures to such risk factors. While earlier research has demonstrated beneficial effects of BSEs in terms of reductions in superficial back muscle activity, limited evidence is available regarding the impacts of these devices on spine loads. We evaluated the effects of two passive BSEs (BackX™ AC and Laevo™ V2.5) on lumbosacral compression and shear forces during repetitive lifting using an optimization-based model. Eighteen participants (gender-balanced) completed four minutes of repetitive lifting in nine different conditions, involving symmetric and asymmetric postures when using the BSEs (along with no BSE as a control condition). Using both BSEs reduced estimated peak compression and anteroposterior shear forces (by ∼8-15%). Such reductions, however, were task-specific and depended on the BSE design. Laevo™ use reduced mediolateral shear forces during asymmetric lifting (by ∼35%). We also found that reductions in composite measures of trunk muscle activity may not correspond well with changes in spine forces when using a BSE. These results can help guide the proper selection and application of BSEs during repetitive lifting tasks. Future work is recommended to explore the viability of different biomechanical models to assess changes in spine mechanical loads when using BSEs and whether reasonable estimates would be obtained using such models.
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Affiliation(s)
- Saman Madinei
- Department of Industrial and Systems Engineering, Virginia Tech, 250 Durham Hall (0118), Blacksburg, VA 24061, USA
| | - Maury A Nussbaum
- Department of Industrial and Systems Engineering, Virginia Tech, 250 Durham Hall (0118), Blacksburg, VA 24061, USA.
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24
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So BCL, Hua C, Chen T, Gao Q, Man SS. Biomechanical assessment of a passive back-support exoskeleton during repetitive lifting and carrying: Muscle activity, kinematics, and physical capacity. JOURNAL OF SAFETY RESEARCH 2022; 83:210-222. [PMID: 36481011 DOI: 10.1016/j.jsr.2022.08.017] [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: 08/27/2021] [Revised: 04/24/2022] [Accepted: 08/25/2022] [Indexed: 06/17/2023]
Abstract
INTRODUCTION Most people have experienced low back pain (LBP) more or less in their lifetime. Heavier load weight could increase the risk of LBP, especially in repetitive lifting and carrying tasks. The risk could also increase with the frequency of lifting. This study aims to investigate the effects of a passive back-support exoskeleton (PBSE) on trunk muscle activation, kinematics, and physical capacity in a repetitive lifting task and a carrying task in consideration of load weights in a laboratory setting. RESULTS Results showed that using the PBSE, the activities of the thoracic erector spinae and lumbar erector spinae muscles were reduced significantly by nearly 7% MVC and 3% MVC in the repetitive lifting task and the carrying task, respectively. There was no significant effect of the PBSE on the spine kinematics and physical capacity. PRACTICAL APPLICATIONS This study supports the use of the PBSE to reduce trunk muscle activity in repetitive lifting and carrying tasks.
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Affiliation(s)
- Billy Chun Lung So
- Department of Rehabilitation Sciences, The Hong Kong Polytechnic University, Hong Kong, China
| | - Chunzhuo Hua
- Department of Rehabilitation Sciences, The Hong Kong Polytechnic University, Hong Kong, China
| | - Tingting Chen
- Department of Rehabilitation Sciences, The Hong Kong Polytechnic University, Hong Kong, China
| | - Qingwen Gao
- Department of Rehabilitation Sciences, The Hong Kong Polytechnic University, Hong Kong, China
| | - Siu Shing Man
- Department of Rehabilitation Sciences, The Hong Kong Polytechnic University, Hong Kong, China.
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Wang J, Yu S, Yuan X, Wang Y, Chen D, Wang W. Investigating the Overall Experience of Wearable Robots during Prototype-Stage Testing. SENSORS (BASEL, SWITZERLAND) 2022; 22:8367. [PMID: 36366065 PMCID: PMC9656381 DOI: 10.3390/s22218367] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/27/2022] [Revised: 10/24/2022] [Accepted: 10/28/2022] [Indexed: 06/16/2023]
Abstract
Wearable robots (WRs) might interact with humans in a similar manner to teammates to accomplish specific tasks together. However, the available data on WR user experience (UX) studies are limited, especially during the prototyping phase. Therefore, this study aims to examine the overall experience of WRs during the prototyping phase based on an exploratory research model. This theoretical model considered usability, hedonic quality, and attitude toward using WRs as key factors in explaining and predicting overall experience. To test the hypotheses inherent in the research model, quantitative empirical research was conducted and the data were analyzed by partial least squares structural equation modeling (PLS-SEM). The results from the PLS-SEM analysis revealed the significance level of correlations between the latent variables in the research model. The exploratory research model was able to explain up to 53.2% of the variance in the overall experience of using WRs, indicating medium predictive power. This research develops a new quantitative empirical research model that can be used to explain and predict the overall experience of interactive products such as WRs. Meanwhile, the model is needed during WR testing in the prototype phase.
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Affiliation(s)
- Jinlei Wang
- Key Laboratory of Industrial Design and Ergonomics, Ministry of Industry and Information Technology, Northwestern Polytechnical University, Xi’an 710072, China
- Shaanxi Engineering Laboratory for Industrial Design, Northwestern Polytechnical University, Xi’an 710072, China
| | - Suihuai Yu
- Key Laboratory of Industrial Design and Ergonomics, Ministry of Industry and Information Technology, Northwestern Polytechnical University, Xi’an 710072, China
- Shaanxi Engineering Laboratory for Industrial Design, Northwestern Polytechnical University, Xi’an 710072, China
| | - Xiaoqing Yuan
- School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China
| | - Yahui Wang
- School of Design and Arts, Beijing Institute of Technology, Beijing 100811, China
| | - Dengkai Chen
- Key Laboratory of Industrial Design and Ergonomics, Ministry of Industry and Information Technology, Northwestern Polytechnical University, Xi’an 710072, China
- Shaanxi Engineering Laboratory for Industrial Design, Northwestern Polytechnical University, Xi’an 710072, China
| | - Wendong Wang
- School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China
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Influence of Exoskeleton Use on Cardiac Index. HEARTS 2022. [DOI: 10.3390/hearts3040014] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022] Open
Abstract
This study aims to assess the whole-body physiological effects of wearing an exoskeleton during a one-hour standardized work task, utilizing the Cardiac Index (CI) as the target parameter. N = 42 young and healthy subjects with welding experience took part in the study. The standardized and abstracted one-hour workflow consists of simulated welding and grinding in constrained body positions and was completed twice by each subject, with and without an exoskeleton, in a randomized order. The CI was measured by Impedance Cardiography (ICG), an approved medical method. The difference between the averaged baseline measurement and the averaged last 10 min was computed for the conditions with and without an exoskeleton for each subject to result in ∆CIwithout exo and ∆CIwith exo. A significant difference between the conditions with and without an exoskeleton was found, with the reduction in CI when wearing an exoskeleton amounting to 10.51%. This result corresponds to that of previous studies that analyzed whole-body physiological load by means of spiroergometry. These results suggest a strong positive influence of exoskeletons on CI and, therefore, physiological load. At the same time, they also support the hypothesis that ICG is a suitable measurement instrument to assess these effects.
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Rayssiguie E, Erden MS. A Review of Exoskeletons Considering Nurses. SENSORS (BASEL, SWITZERLAND) 2022; 22:7035. [PMID: 36146385 PMCID: PMC9501849 DOI: 10.3390/s22187035] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/06/2022] [Revised: 08/17/2022] [Accepted: 08/29/2022] [Indexed: 05/31/2023]
Abstract
Daily tasks of nurses include manual handling to assist patients. Repetitive manual handling leads to high risk of injuries due to the loads on nurses' bodies. Nurses, in hospitals and care homes, can benefit from the advances in exoskeleton technology assisting their manual handling tasks. There are already exoskeletons both in the market and in the research area made to assist physical workers to handle heavy loads. However, those exoskeletons are mostly designed for men, as most physical workers are men, whereas most nurses are women. In the case of nurses, they handle patients, a more delicate task than handling objects, and any such device used by nurses should easily be disinfected. In this study, the needs of nurses are examined, and a review of the state-of-the-art exoskeletons is conducted from the perspective of to what extent the existing technologies address the needs of nurses. Possible solutions and technologies and particularly the needs that have not been addressed by the existing technologies are discussed.
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Affiliation(s)
| | - Mustafa Suphi Erden
- School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS, UK
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Bhardwaj S, Shinde AB, Singh R, Vashista V. Passive Exosuit Emulator for Material Handling Applications. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3183748] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Affiliation(s)
- Siddharth Bhardwaj
- Human-Centered Robotics Lab, Indian Institute of Technology Gandhinagar, Palaj, Gujarat, India
| | - Akshayraj B. Shinde
- Human-Centered Robotics Lab, Indian Institute of Technology Gandhinagar, Palaj, Gujarat, India
| | - Randheer Singh
- Human-Centered Robotics Lab, Indian Institute of Technology Gandhinagar, Palaj, Gujarat, India
| | - Vineet Vashista
- Human-Centered Robotics Lab, Indian Institute of Technology Gandhinagar, Palaj, Gujarat, India
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A Wearable Lower Limb Exoskeleton: Reducing the Energy Cost of Human Movement. MICROMACHINES 2022; 13:mi13060900. [PMID: 35744514 PMCID: PMC9229674 DOI: 10.3390/mi13060900] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/20/2022] [Revised: 05/29/2022] [Accepted: 05/30/2022] [Indexed: 01/27/2023]
Abstract
Human body enhancement is an interesting branch of robotics. It focuses on wearable robots in order to improve the performance of human body, reduce energy consumption and delay fatigue, as well as increase body speed. Robot-assisted equipment, such as wearable exoskeletons, are wearable robot systems that integrate human intelligence and robot power. After careful design and adaptation, the human body has energy-saving sports, but it is an arduous task for the exoskeleton to achieve considerable reduction in metabolic rate. Therefore, it is necessary to understand the biomechanics of human sports, the body, and its weaknesses. In this study, a lower limb exoskeleton was classified according to the power source, and the working principle, design idea, wearing mode, material and performance of different types of lower limb exoskeletons were compared and analyzed. The study shows that the unpowered exoskeleton robot has inherent advantages in endurance, mass, volume, and cost, which is a new development direction of robot exoskeletons. This paper not only summarizes the existing research but also points out its shortcomings through the comparative analysis of different lower limb wearable exoskeletons. Furthermore, improvement measures suitable for practical application have been provided.
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Linnenberg C, Weidner R. Industrial exoskeletons for overhead work: Circumferential pressures on the upper arm caused by the physical human-machine-interface. APPLIED ERGONOMICS 2022; 101:103706. [PMID: 35134687 DOI: 10.1016/j.apergo.2022.103706] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/31/2021] [Revised: 01/26/2022] [Accepted: 01/31/2022] [Indexed: 06/14/2023]
Abstract
This study investigated the pressures occurring within the arm human-machine-interfaces (HMI) of four different exoskeletons that support static and dynamic work at or above head level, and the effects of the HMI on neurovascular supply of the upper extremity using an orthopedic provocation maneuver with raised arms with and without the exoskeletons. Decreased time in the provocation maneuver with exoskeletons indicated a negative effect of the HMIs on the vascular and neural supply of the arm. Average pressure in the static situation was 3.2 ± 0.7 kPa and 4.4 ± 0.4 kPa with regular peak values of 6.5 ± 0.5 kPa in the dynamic task. These pressures were significantly higher than the pressure values that guarantee adequate tissue oxygenation. It remains unknown whether the way exoskeletons apply pressure affects vascular and neural supply to the arms, or whether the regular unloading during dynamic activity has a neutralizing effect.
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Affiliation(s)
- Christine Linnenberg
- Institute for Mechatronics, University of Innsbruck, Technikerstraße 13, 6020, Innsbruck, Austria.
| | - Robert Weidner
- Institute for Mechatronics, University of Innsbruck, Technikerstraße 13, 6020, Innsbruck, Austria; Laboratory for Manufacturing Technology, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Holstenhofweg 85, 22043, Hamburg, Germany.
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Proud JK, Lai DTH, Mudie KL, Carstairs GL, Billing DC, Garofolini A, Begg RK. Exoskeleton Application to Military Manual Handling Tasks. HUMAN FACTORS 2022; 64:527-554. [PMID: 33203237 DOI: 10.1177/0018720820957467] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
OBJECTIVE The aim of this review was to determine how exoskeletons could assist Australian Defence Force personnel with manual handling tasks. BACKGROUND Musculoskeletal injuries due to manual handling are physically damaging to personnel and financially costly to the Australian Defence Force. Exoskeletons may minimize injury risk by supporting, augmenting, and/or amplifying the user's physical abilities. Exoskeletons are therefore of interest in determining how they could support the unique needs of military manual handling personnel. METHOD Industrial and military exoskeleton studies from 1990 to 2019 were identified in the literature. This included 67 unique exoskeletons, for which Information about their current state of development was tabulated. RESULTS Exoskeleton support of manual handling tasks is largely through squat/deadlift (lower limb) systems (64%), with the proposed use case for these being load carrying (42%) and 78% of exoskeletons being active. Human-exoskeleton analysis was the most prevalent form of evaluation (68%) with reported reductions in back muscle activation of 15%-54%. CONCLUSION The high frequency of citations of exoskeletons targeting load carrying reflects the need for devices that can support manual handling workers. Exoskeleton evaluation procedures varied across studies making comparisons difficult. The unique considerations for military applications, such as heavy external loads and load asymmetry, suggest that a significant adaptation to current technology or customized military-specific devices would be required for the introduction of exoskeletons into a military setting. APPLICATION Exoskeletons in the literature and their potential to be adapted for application to military manual handling tasks are presented.
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Affiliation(s)
| | | | - Kurt L Mudie
- 2222 Defence Science and Technology (DST), Melbourne, Australia
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Park JH, Lee Y, Madinei S, Kim S, Nussbaum MA, Srinivasan D. Effects of Back-Support Exoskeleton Use on Lower Limb Joint Kinematics and Kinetics During Level Walking. Ann Biomed Eng 2022; 50:964-977. [PMID: 35478066 DOI: 10.1007/s10439-022-02973-6] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/16/2021] [Accepted: 04/19/2022] [Indexed: 11/26/2022]
Abstract
We assessed the effects of using a passive back-support exoskeleton (BSE) on lower limb joint kinematics and kinetics during level walking. Twenty young, healthy participants completed level walking trials while wearing a BSE (backXTM) with three different levels of hip-extension support torque (i.e., no torque, low, and high) and in a control condition (no-BSE). When hip extension torques were required for gait-initial 0-10% and final 75-100% of the gait cycle-the BSE with high supportive torque provided ~ 10 Nm of external hip extension torque at each hip, resulting in beneficial changes in participants' gait patterns. Specifically, there was a ~ 10% reduction in muscle-generated hip extension torque and ~ 15-20% reduction in extensor power. During the stance-swing transition, however, BSE use produced undesirable changes in lower limb kinematics (e.g., 5-20% increase in ankle joint velocity) and kinetics (e.g., ~ 10% increase in hip flexor, knee extensor, and ankle plantarflexor powers). These latter changes likely stemmed from the need to increase mechanical energy for propelling the leg into the swing phase. BSE use may thus increase the metabolic cost of walking. Whether such use also leads to muscle fatigue and/or postural instability in long-distance walking needs to be confirmed in future work.
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Affiliation(s)
- Jang-Ho Park
- Department of Industrial Engineering, Clemson University, Freeman Hall, Clemson, SC, 29634, USA
| | - Youngjae Lee
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
| | | | - Sunwook Kim
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Maury A Nussbaum
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Divya Srinivasan
- Department of Industrial Engineering, Clemson University, Freeman Hall, Clemson, SC, 29634, USA.
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Elprama SA, Vanderborght B, Jacobs A. An industrial exoskeleton user acceptance framework based on a literature review of empirical studies. APPLIED ERGONOMICS 2022; 100:103615. [PMID: 34847372 DOI: 10.1016/j.apergo.2021.103615] [Citation(s) in RCA: 13] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/06/2021] [Revised: 10/14/2021] [Accepted: 10/15/2021] [Indexed: 06/13/2023]
Abstract
Studying the acceptance of exoskeletons in industry has gained increased attention. Exoskeletons (wearable support devices) are envisioned to alleviate heavy work. Examining what factors influence the use of exoskeletons is important, because influencing these factors could positively contribute to the adoption of industrial exoskeletons. The factors identified in this paper have been systematically derived from empirical research with (potential future) end users, most of whom have tried on an exoskeleton. Our framework with factors influencing the acceptance of industrial exoskeletons can be used during the (ideally iterative) design, (re)development and evaluation phase of new or existing exoskeletons. This could improve the quality of exoskeletons since this allows designers to already consider acceptance factors early in the design process instead of finding out what is important late in the design process during (field) testing. In turn, this might accelerate the adoption of exoskeletons. Also, our framework can be used to study the ongoing introduction of exoskeletons at work since it also addresses policy decisions companies interested in implementing exoskeletons should consider.
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Affiliation(s)
- Shirley A Elprama
- imec-SMIT-Vrije Universiteit Brussel - BruBotics, Pleinlaan 9, 1050 Brussels, Belgium.
| | - Bram Vanderborght
- Vrije Universiteit Brussel - imec - BruBotics, Pleinlaan 2, 1050 Brussels, Belgium.
| | - An Jacobs
- imec-SMIT-Vrije Universiteit Brussel - BruBotics, Pleinlaan 9, 1050 Brussels, Belgium.
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De Bock S, Rossini M, Lefeber D, Rodriguez-Guerrero C, Geeroms J, Meeusen R, De Pauw K. An Occupational Shoulder Exoskeleton Reduces Muscle Activity and Fatigue During Overhead Work. IEEE Trans Biomed Eng 2022; 69:3008-3020. [PMID: 35290183 DOI: 10.1109/tbme.2022.3159094] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
Objective. This paper assesses the effect of a passive shoulder exoskeleton prototype, Exo4Work, on muscle activity, muscle fatigue and subjective experience during simulated occupational overhead and non-overhead work. Methods. Twenty-two healthy males performed six simulated industrial tasks with and without Exo4Work exoskeleton in a randomized counterbalanced cross-over design. During these tasks electromyography, heart rate, metabolic cost, subjective parameters and performance parameters were acquired. The effect of the exoskeleton and the body side on these parameters was investigated. Results. Anterior deltoid activity and fatigue reduced up to 16% and 41%, respectively, during isometric overhead work, and minimized hindrance of the device during non-overhead tasks. Wearing the exoskeleton increased feelings of frustration and increased discomfort in the areas where the exoskeleton and the body interfaced. The assistive effect of the exoskeleton was less prominent during dynamic tasks. Conclusion. This exoskeleton may reduce muscle activity and delay development of muscle fatigue in an overhead working scenario. For dynamic applications, the exoskeleton's assistive profile, which mimics the gravitational torque of the arm, is potentially sub-optimal. Significance. This evaluation paper is the first to report reduced muscle fatigue and activity when working with an occupational shoulder exoskeleton providing one third of the gravitational torque of the arm during overhead work. These results stress the potential of occupational shoulder exoskeletons in overhead working situations and may direct towards longitudinal field experiments. Additionally, this experiment may stimulate future work to further investigate the effect of different assistive profiles.
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Kim S, Nussbaum MA, Smets M. Usability, User Acceptance, and Health Outcomes of Arm-Support Exoskeleton Use in Automotive Assembly: An 18-month Field Study. J Occup Environ Med 2022; 64:202-211. [PMID: 34873132 DOI: 10.1097/jom.0000000000002438] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/26/2022]
Abstract
OBJECTIVE Examine arm-support exoskeleton (ASE) user experience over time, identify factors contributing to ASE intention-to-use, and explore whether ASE use may influence the number of medical visits. METHODS An 18-month, longitudinal study with ASE (n = 65) and control groups (n = 133) completed at nine automotive manufacturing facilities. RESULTS Responses to six usability questions were rather consistent over time. ASE use perceived effective in reducing physical demands on the shoulders, neck, and back. Perceived job performance, and overall fit and comfort, appeared to be key determinants for ASE intention-to-use. Based on medical visits among both groups, ASE use may decrease the likelihood of such visits. CONCLUSIONS These field results support the potential of ASEs as a beneficial ergonomic intervention, but also highlight needs for further research on ASE designs, factors driving intention-to-use, and health outcomes.
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Affiliation(s)
- Sunwook Kim
- Department of Industrial & Systems Engineering, Virginia Tech, Blacksburg, Virginia (Dr Kim, Dr Nussbaum); Manufacturing Technology Development, Ford Motor Company, Glendale, Michigan (Mr Smets)
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Hoffmann N, Prokop G, Weidner R. Methodologies for evaluating exoskeletons with industrial applications. ERGONOMICS 2022; 65:276-295. [PMID: 34415823 DOI: 10.1080/00140139.2021.1970823] [Citation(s) in RCA: 16] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/18/2021] [Accepted: 08/12/2021] [Indexed: 06/13/2023]
Abstract
Industrial exoskeletons are globally developed, explored, and increasingly implemented in industrial workplaces. Multiple technical, physical, and psychological aspects should be assessed prior to their daily application in various occupational environments. The methodology for evaluating these aspects is not standardised and differs in terms of focussed research objectives, used types of analyses, applied testing procedures, and use cases. The aim of this paper is to provide a matrix comparing the prevalence of different types of analyses combined with their respective research objective(s). A systematic review in the database 'Web of Science' identified 74 studies, mainly in laboratory settings, with a focus on short-term effects as well as with male-dominated samples being low representative for industrial workforces. The conducted evaluation methodologies are further discussed and compared in terms of testing procedure, sample, and research objectives. Finally, relevant aspects for prospectively evaluating industrial exoskeletons in a more harmonised and comprehensive way are suggested. Practitioner summary: Industrial exoskeletons are still inconsistently and insufficiently evaluated in scientific studies, which might hamper the comparability of systems, threaten the human health, and block an iterative system optimisation. Thus, a comprehensive evaluation methodology is needed with harmonised and multicriteria types of analyses.
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Affiliation(s)
- Niclas Hoffmann
- Department of Production Technologies, Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
- Laboratory of Manufacturing Technology, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Hamburg, Germany
| | - Gilbert Prokop
- Department of Production Technologies, Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
| | - Robert Weidner
- Department of Production Technologies, Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
- Laboratory of Manufacturing Technology, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Hamburg, Germany
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Zelik KE, Nurse CA, Schall MC, Sesek RF, Marino MC, Gallagher S. An ergonomic assessment tool for evaluating the effect of back exoskeletons on injury risk. APPLIED ERGONOMICS 2022; 99:103619. [PMID: 34740072 PMCID: PMC9827614 DOI: 10.1016/j.apergo.2021.103619] [Citation(s) in RCA: 26] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/03/2021] [Revised: 09/14/2021] [Accepted: 10/20/2021] [Indexed: 06/01/2023]
Abstract
Low back disorders (LBDs) are a leading injury in the workplace. Back exoskeletons (exos) are wearable assist devices that complement traditional ergonomic controls and reduce LBD risks by alleviating musculoskeletal overexertion. However, there are currently no ergonomic assessment tools to evaluate risk for workers wearing back exos. Exo-LiFFT, an extension of the Lifting Fatigue Failure Tool, is introduced as a means to unify the etiology of LBDs with the biomechanical function of exos. We present multiple examples demonstrating how Exo-LiFFT can assess or predict the effect of exos on LBD risk without costly, time-consuming electromyography studies. For instance, using simulated and real-world material handling data we show an exo providing a 30 Nm lumbar moment is projected to reduce cumulative back damage by ∼70% and LBD risk by ∼20%. Exo-LiFFT provides a practical, efficient ergonomic assessment tool to assist safety professionals exploring back exos as part of a comprehensive occupational health program.
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Affiliation(s)
- Karl E Zelik
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA; Department of Biomedical Engineering, Vanderbilt University, Nashville, TN, USA; Department of Physical Medicine and Rehabilitation, Vanderbilt University, Nashville, TN, USA; HeroWear, LLC, Nashville, TN, USA.
| | - Cameron A Nurse
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
| | - Mark C Schall
- Department of Industrial and Systems Engineering, Auburn University, Auburn, AL, USA
| | - Richard F Sesek
- Department of Industrial and Systems Engineering, Auburn University, Auburn, AL, USA
| | | | - Sean Gallagher
- Department of Industrial and Systems Engineering, Auburn University, Auburn, AL, USA
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Park JH, Kim S, Nussbaum MA, Srinivasan D. Effects of back-support exoskeleton use on gait performance and stability during level walking. Gait Posture 2022; 92:181-190. [PMID: 34864386 DOI: 10.1016/j.gaitpost.2021.11.028] [Citation(s) in RCA: 15] [Impact Index Per Article: 7.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 04/26/2021] [Revised: 11/16/2021] [Accepted: 11/19/2021] [Indexed: 02/02/2023]
Abstract
BACKGROUND Back-support exoskeletons (BSEs) are a promising intervention to mitigate physical demands at work. Although growing evidence indicates that BSEs can reduce low-back physical demands, there is limited understanding of potential unintended consequences of BSE use, including the risk of falls. RESEARCH QUESTION Does using a BSE adversely affect gait performance and stability, and are such effects dependent on specific BSE external torque characteristics? METHODS Twenty participants (10 M, 10 F) completed five level over-ground walking trials and a five-minute treadmill walking trial while wearing a BSE (backX™) with three different levels of external torque (i.e., no torque, low torque, and high torque) and in a control (no-exoskeleton) condition. Spatiotemporal gait patterns, stride-to-stride gait variability measures, required coefficient-of-friction (RCoF), and minimum foot clearance (MFC) were determined, to assess gait performance. Gait stability was quantified using the maximum Lyapunov exponent (MLE) of trunk kinematics and the margin-of-stability (MoS). RESULTS Using the backX™ with high supportive torque decreased slip risk (7% decrease in RCoF) and slightly improved trunk stability (3% decrease in MLE). However, it also decreased step length (1%), increased step width (10%) and increased gait variability (8-19%). Changes in MoS were complex: while MoS at heel strike decreased in the AP direction, it increased in the ML direction. There was a rather large decrease in MoS (26%) in the ML direction during the swing phase. SIGNIFICANCE This is the first study to quantify the effects of wearing a passive BSE with multiple supportive torque levels on gait performance and stability during level walking. Our results, showing that the external torque of the BSE may adversely affect gait step width, variability, and dynamic stability, can contribute to better design and practice guidelines to facilitate the safe adoption of BSEs in the workplace.
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Affiliation(s)
- Jang-Ho Park
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA 24061, USA
| | - Sunwook Kim
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA 24061, USA
| | - Maury A Nussbaum
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA 24061, USA
| | - Divya Srinivasan
- Department of Industrial Engineering, Clemson University, Clemson, SC 29634, USA.
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Hoffmann H, Pitz I, Adomssent B, Russmann C. [Association, expectations and barriers of the use of exoskeletons in small and medium-sized enterprises]. ZENTRALBLATT FUR ARBEITSMEDIZIN, ARBEITSSCHUTZ UND ERGONOMIE 2022; 72:68-77. [PMID: 35068706 PMCID: PMC8762628 DOI: 10.1007/s40664-021-00453-7] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Subscribe] [Scholar Register] [Received: 06/18/2021] [Revised: 10/14/2021] [Accepted: 11/03/2021] [Indexed: 11/26/2022]
Abstract
Background In the manufacturing industry, work-related musculoskeletal disorders (MSD) result in sick days and have substantial economic consequences for the enterprise and the national economy. Exoskeletons can support the body when handling heavy loads and enduring enforced postures. Exoskeletons are being piloted particularly in large companies in the automotive industry; however, exoskeletons have so far attracted little interest in small and medium-sized enterprises (SME) and their use has so far barely been scientifically examined. The aim of this work was to determine barriers to exoskeleton implementation and expectations for their use in the manufacturing sector. Method Semi-structured guided interviews in six manufacturing companies were carried out and analyzed. Results In the enterprises a variety of activities up to the loading limits are carried out. Exoskeletons are generally expected to facilitate work and provide economic advantages. There are concerns with respect to their use due to cost factors, uncertain benefits and wearing discomfort. Particularly uncertainties about the effects of exoskeletons become evident. Conclusion The presented interview results are one step in an interdisciplinary process of further developing and implementing exoskeletons in the manufacturing industry. Concerns and unawareness of potential enterprises and users must be addressed, also to achieve a high user acceptance. Further studies that survey the identification of needs with better discriminatory power could provide additional insights.
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Affiliation(s)
- Holger Hoffmann
- Fakultät für Ingenieurwissenschaften und Gesundheit, HAWK Hildesheim/Holzminden/Göttingen, Göttingen, Deutschland
| | - Imke Pitz
- Fakultät für Ingenieurwissenschaften und Gesundheit, HAWK Hildesheim/Holzminden/Göttingen, Göttingen, Deutschland
| | - Björn Adomssent
- Fakultät für Ingenieurwissenschaften und Gesundheit, HAWK Hildesheim/Holzminden/Göttingen, Göttingen, Deutschland
| | - Christoph Russmann
- Fakultät für Ingenieurwissenschaften und Gesundheit, HAWK Hildesheim/Holzminden/Göttingen, Göttingen, Deutschland
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Alemi MM, Simon AA, Geissinger J, Asbeck AT. Modeling the Metabolic Reductions of a Passive Back-Support Exoskeleton. J Appl Physiol (1985) 2022; 132:737-760. [PMID: 35023764 DOI: 10.1152/japplphysiol.00171.2021] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/22/2022] Open
Abstract
Despite several attempts to quantify the metabolic savings resulting from the use of passive back-support exoskeletons (BSEs), no study has modeled the metabolic change while wearing an exoskeleton during lifting. The objectives of this study were to: 1) quantify the metabolic reductions due to the VT-Lowe's exoskeleton during lifting; and 2) provide a comprehensive model to estimate the metabolic reductions from using a passive BSE. In this study, 15 healthy adults (13M, 2F) of ages 20 to 34 years (mean=25.33, SD=4.43) performed repeated freestyle lifting and lowering of an empty box and a box with 20% of their bodyweight. Oxygen consumption and metabolic expenditure data were collected. A model for metabolic expenditure was developed and fitted with the experimental data of two prior studies and the without-exoskeleton experimental results. The metabolic cost model was then modified to reflect the effect of the exoskeleton. The experimental results revealed that VT-Lowe's exoskeleton significantly lowered the oxygen consumption by ~9% for an empty box and 8% for a 20% bodyweight box, which corresponds to a net metabolic cost reduction of ~12% and ~9%, respectively. The mean metabolic difference (i.e., without-exo minus with-exo) and the 95% confidence interval were 0.36 and (0.2-0.52) [Watts/kg] for 0% bodyweight, and 0.43 and (0.18-0.69) [Watts/kg] for 20% bodyweight. Our modeling predictions for with-exoskeleton conditions were precise, with absolute freestyle prediction errors of <2.1%. The model developed in this study can be modified based on different study designs, and can assist researchers in enhancing designs of future lifting exoskeletons.
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Affiliation(s)
- Mohammad Mehdi Alemi
- Center for Advanced Orthopaedic Studies, Beth Israel Deaconess Medical Center, Boston, MA, United States.,Department of Orthopaedic Surgery, Harvard Medical School, Boston, MA, United States.,Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA, United States
| | - Athulya A Simon
- Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA, United States
| | - Jack Geissinger
- Department of Computer Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA, United States
| | - Alan T Asbeck
- Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA, United States
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Schmalz T, Colienne A, Bywater E, Fritzsche L, Gärtner C, Bellmann M, Reimer S, Ernst M. A Passive Back-Support Exoskeleton for Manual Materials Handling: Reduction of Low Back Loading and Metabolic Effort during Repetitive Lifting. IISE Trans Occup Ergon Hum Factors 2022. [PMID: 34763618 DOI: 10.1080/24725838.2021.2005720] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 10/18/2022]
Abstract
OCCUPATIONAL APPLICATIONSGlobalization and eCommerce continue to fuel unprecedented growth in the logistics and warehousing markets. Simultaneously, the biggest bottleneck for these industries is their human capital. Where automation and robotic solutions fail to deliver a return on investment, humans frequently take over handling tasks that place harmful loads and strains on the body. Occupational exoskeletons can reduce fatigue and strain by supporting the lower spine and are designed to prevent work-related musculoskeletal disorders and other injuries. They are a mid- to long-term investment for industries to improve ergonomic conditions in workplaces, with the potential for reducing absences from work, sick days logged, and workers compensation claims. To examine the effectiveness of the newly introduced Paexo Back exoskeleton, a study was completed with 10 participants who completed manual load handling tasks with and without the exoskeleton. Key findings include significant reductions in metabolic effort and low back loading when the exoskeleton is worn.
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Affiliation(s)
- Thomas Schmalz
- Ottobock SE & Co. KGaA/Clinical Research & Services - Biomechanics, Göttingen, Germany
| | - Anja Colienne
- Private University of Applied Science, Göttingen, Germany
| | | | | | | | - Malte Bellmann
- Ottobock SE & Co. KGaA/Clinical Research & Services - Biomechanics, Göttingen, Germany
| | - Samuel Reimer
- Ottobock SE & Co. KGaA/Business Development Industrials, Duderstadt, Germany
| | - Michael Ernst
- Ottobock SE & Co. KGaA/Clinical Research & Services - Biomechanics, Göttingen, Germany
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De Bock S, Ghillebert J, Govaerts R, Tassignon B, Rodriguez-Guerrero C, Crea S, Veneman J, Geeroms J, Meeusen R, De Pauw K. Benchmarking occupational exoskeletons: An evidence mapping systematic review. APPLIED ERGONOMICS 2022; 98:103582. [PMID: 34600307 DOI: 10.1016/j.apergo.2021.103582] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/17/2021] [Revised: 09/03/2021] [Accepted: 09/07/2021] [Indexed: 06/13/2023]
Abstract
OBJECTIVES To provide an overview of protocols assessing the effect of occupational exoskeletons on users and to formulate recommendations towards a literature-based assessment framework to benchmark the effect of occupational exoskeletons on the user. METHODS PubMed (MEDLINE), Web of Science database and Scopus were searched (March 2, 2021). Studies were included if they investigated the effect of one or more occupational exoskeletons on the user. RESULTS In total, 139 eligible studies were identified, encompassing 33, 25 and 18 unique back, shoulder and other exoskeletons, respectively. Device validation was most frequently conducted using controlled tasks while collecting muscle activity and biomechanical data. As the exoskeleton concept matures, tasks became more applied and the experimental design more representative. With that change towards realistic testing environments came a trade-off with experimental control, and user experience data became more valuable. DISCUSSION This evidence mapping systematic review reveals that the assessment of occupational exoskeletons is a dynamic process, and provides literature-based assessment recommendations. The homogeneity and repeatability of future exoskeleton assessment experiments will increase following these recommendations. The current review recognises the value of variability in evaluation protocols in order to obtain an overall overview of the effect of exoskeletons on the users, but the presented framework strives to facilitate benchmarking the effect of occupational exoskeletons on the users across this variety of assessment protocols.
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Affiliation(s)
- Sander De Bock
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium; Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium.
| | - Jo Ghillebert
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium; Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium
| | - Renée Govaerts
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium; Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium
| | - Bruno Tassignon
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium
| | - Carlos Rodriguez-Guerrero
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium; Department of Mechanical Engineering, Faculty of Applied Sciences, Vrije Universiteit Brussel and Flanders Make, 1050, Brussels, Belgium; COST (European Cooperation in Science and Technology) Action 16116, Wearable Robots for Augmentation, Assistance or Substitution of Human Motor Functions, Belgium
| | - Simona Crea
- COST (European Cooperation in Science and Technology) Action 16116, Wearable Robots for Augmentation, Assistance or Substitution of Human Motor Functions, Belgium; The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy; IRCCS Fondazione Don Carlo Gnocchi, Florence, Italy
| | - Jan Veneman
- COST (European Cooperation in Science and Technology) Action 16116, Wearable Robots for Augmentation, Assistance or Substitution of Human Motor Functions, Belgium; Hocoma AG, Volketswil, Switzerland
| | - Joost Geeroms
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium; Department of Mechanical Engineering, Faculty of Applied Sciences, Vrije Universiteit Brussel and Flanders Make, 1050, Brussels, Belgium
| | - Romain Meeusen
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium; Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium; Strategic Research Program 'Exercise and the Brain in Health and Disease: The Added Value of Human-Centered Robotics', Vrije Universiteit Brussel, 1050, Brussels, Belgium
| | - Kevin De Pauw
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium; Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium; Strategic Research Program 'Exercise and the Brain in Health and Disease: The Added Value of Human-Centered Robotics', Vrije Universiteit Brussel, 1050, Brussels, Belgium
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Babič J, Laffranchi M, Tessari F, Verstraten T, Novak D, Šarabon N, Ugurlu B, Peternel L, Torricelli D, Veneman JF. Challenges and solutions for application and wider adoption of wearable robots. WEARABLE TECHNOLOGIES 2021; 2:e14. [PMID: 38486636 PMCID: PMC10936284 DOI: 10.1017/wtc.2021.13] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/02/2021] [Revised: 08/25/2021] [Accepted: 09/18/2021] [Indexed: 03/17/2024]
Abstract
The science and technology of wearable robots are steadily advancing, and the use of such robots in our everyday life appears to be within reach. Nevertheless, widespread adoption of wearable robots should not be taken for granted, especially since many recent attempts to bring them to real-life applications resulted in mixed outcomes. The aim of this article is to address the current challenges that are limiting the application and wider adoption of wearable robots that are typically worn over the human body. We categorized the challenges into mechanical layout, actuation, sensing, body interface, control, human-robot interfacing and coadaptation, and benchmarking. For each category, we discuss specific challenges and the rationale for why solving them is important, followed by an overview of relevant recent works. We conclude with an opinion that summarizes possible solutions that could contribute to the wider adoption of wearable robots.
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Affiliation(s)
- Jan Babič
- Laboratory for Neuromechanics and Biorobotics, Department of Automation, Biocybernetics and Robotics, Jožef Stefan Institute, Ljubljana, Slovenia
| | - Matteo Laffranchi
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Federico Tessari
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Tom Verstraten
- Robotics & Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Domen Novak
- University of Wyoming, Laramie, Wyoming, USA
| | - Nejc Šarabon
- Faculty of Health Sciences, University of Primorska, Izola, Slovenia
| | - Barkan Ugurlu
- Biomechatronics Laboratory, Faculty of Engineering, Ozyegin University, Istanbul, Turkey
| | - Luka Peternel
- Delft Haptics Lab, Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands
| | - Diego Torricelli
- Cajal Institute, Spanish National Research Council, Madrid, Spain
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Ali A, Fontanari V, Schmoelz W, Agrawal SK. Systematic Review of Back-Support Exoskeletons and Soft Robotic Suits. Front Bioeng Biotechnol 2021; 9:765257. [PMID: 34805118 PMCID: PMC8603112 DOI: 10.3389/fbioe.2021.765257] [Citation(s) in RCA: 16] [Impact Index Per Article: 5.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/26/2021] [Accepted: 10/12/2021] [Indexed: 11/23/2022] Open
Abstract
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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Affiliation(s)
- Athar Ali
- Department of Industrial Engineering, University of Trento, Trento, Italy
| | - Vigilio Fontanari
- Department of Industrial Engineering, University of Trento, Trento, Italy
| | - Werner Schmoelz
- Department of Orthopedics and Traumatology, Medical University of Innsbruck, Innsbruck, Austria
| | - Sunil K. Agrawal
- Robotics and Rehabilitation (ROAR) Laboratory, Department of Mechanical Engineering, Columbia University, New York, NY, United States
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Gorsic M, Song Y, Johnson AP, Dai B, Novak D. Simultaneously varying back stiffness and trunk compression in a passive trunk exoskeleton during different activities: A pilot study. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2021; 2021:4886-4890. [PMID: 34892304 DOI: 10.1109/embc46164.2021.9630081] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Passive trunk exoskeletons support the human body with mechanical elements like springs and trunk compression, allowing them to guide motion and relieve the load on the spine. However, to provide appropriate support, elements of the exoskeleton (e.g., degree of compression) should be intelligently adapted to the current task. As it is not currently clear how adjusting different exoskeleton elements affects the wearer, this study preliminarily examines the effects of simultaneously adjusting both exoskeletal spinal column stiffness and trunk compression in a passive trunk exoskeleton. Six participants performed four dynamic tasks (walking, sit-to-stand, lifting a 20-lb box, lifting a 40-lb box) and experienced unexpected perturbations both without the exoskeleton and in six exoskeleton configurations corresponding to two compression levels and three stiffness levels. While results are preliminary due to the small sample size and relatively small increases in stiffness, they indicate that both compression and stiffness may affect kinematics and electromyography, that the effects may differ between activities, and that there may be interaction effects between stiffness and compression. As the next step, we will conduct a larger study with the same protocol more participants and larger stiffness increases to systematically evaluate the effects of different exoskeleton characteristics on the wearer.Clinical Relevance- Trunk exoskeletons can support wearers during a variety of different tasks, but their configuration may need to be intelligently adjusted to provide appropriate support. This pilot study provides information about the effects of exoskeleton back stiffness and trunk compression on the wearer, which can be used as a basis for more effective device design and usage.
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Giustetto A, Vieira Dos Anjos F, Gallo F, Monferino R, Cerone GL, Di Pardo M, Gazzoni M, Micheletti Cremasco M. Investigating the effect of a passive trunk exoskeleton on local discomfort, perceived effort and spatial distribution of back muscles activity. ERGONOMICS 2021; 64:1379-1392. [PMID: 33970812 DOI: 10.1080/00140139.2021.1928297] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/13/2020] [Accepted: 04/30/2021] [Indexed: 06/12/2023]
Abstract
This study aimed at determining the effect of a passive exoskeleton on local perceived discomfort, perceived effort and low back muscles' activity. Thirteen volunteers performed two simulated working tasks with and without the exoskeleton. In the static task, the exoskeleton decreased the lumbar perceived discomfort, the perceived effort and the level of low back muscles' activity (∼10%) while increasing discomfort in the chest and feet. The percent decrease in EMG amplitude was correlated with the percent increase in perceived effort with exoskeleton. For the dynamic task, the exoskeleton increased the discomfort in the chest and decreased the level of back muscle activity (∼5%). Current findings suggest exoskeleton is effective in reducing the back load while increasing the perceived discomfort at non-targeted body regions in both working tasks. The concurrent increase of discomfort in non-targeted areas probably led to a higher perceived effort despite the reduction of low back muscle activity. Practitioner summary: This study provided insights into exoskeleton effects on local discomfort, perceived effort and muscle activity. Overall, the potential benefits of passive exoskeleton should be considered alongside its adverse effects on the non-targeted body regions that can lead to an increase of perceived effort despite the reduction of back muscle activity.
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Affiliation(s)
- Ambra Giustetto
- Department of Life Sciences and Systems Biology, ICxT Innovation Center, University of Torino, Torino, Italy
| | - Fabio Vieira Dos Anjos
- Laboratory for Engineering of the Neuromuscular System (LISiN), Department of Electronics and Telecommunications and PolitoBIOMed Lab, Politecnico di Torino, Torino, Italy
| | - Francesca Gallo
- Centro Ricerche Fiat - WCM Research and Innovation, Orbassano, Italy
| | | | - Giacinto Luigi Cerone
- Laboratory for Engineering of the Neuromuscular System (LISiN), Department of Electronics and Telecommunications and PolitoBIOMed Lab, Politecnico di Torino, Torino, Italy
| | - Massimo Di Pardo
- Centro Ricerche Fiat - WCM Research and Innovation, Orbassano, Italy
| | - Marco Gazzoni
- Laboratory for Engineering of the Neuromuscular System (LISiN), Department of Electronics and Telecommunications and PolitoBIOMed Lab, Politecnico di Torino, Torino, Italy
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Brinkemper A, von Glinski A, Schildhauer TA. Influence of an on-body lifting aid (HAL® for Care Support) on kinematics during repetitive lifting in healthy men. J Clin Neurosci 2021; 93:23-30. [PMID: 34656253 DOI: 10.1016/j.jocn.2021.08.020] [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: 01/11/2021] [Revised: 07/15/2021] [Accepted: 08/18/2021] [Indexed: 10/20/2022]
Abstract
Work-related lower back pain (LBP) leads to socio-economic burden and demands solutions. The hybrid assistive limb (HAL) for Care Support (Cyberdyne Inc., Ibaraki, Japan) is an active on-body lifting aid to assist joint motion according to the wearer's voluntary motor drive to reduce the lumbar load. A few studies investigated HAL and stated efficacy in terms of enhanced performance and reduced fatigue, yet the question remained if the use of HAL may result in a different execution of movement, for example by influencing the kinematics of the lower extremities. The aim of this study was to determine the influence of HAL on kinematics of the lower limbs and the spinal column during repetitive freestyle symmetrical lifting. Kinematic data was recorded by an inertial measurement unit sensor system in 11 healthy men lifting and lowering a 19.5 kg barbell under three conditions (no HAL, HAL Level 3/5, HAL Level 5/5). Outcome parameters were maximum and minimum angles as well as range of motion (ROM) of thoracic spine, lumbar spine, hip- and knee joint in sagittal plane. We found a significantly decreased ROM of the lumbar spine as well as a significantly reduced maximum and minimum thorax extension when starting lifting and in upright position after lifting, respectively, while using HAL. Influence of HAL on the kinematics of the lower limbs was not significant. Differences between both evaluated HAL conditions were not significant. This study proved limited lumbar spine ROM and reduced thorax extension without alterations of lower limbs kinematics when using HAL. This might potentially decrease the risk of work-related LBP.
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Affiliation(s)
- Alexis Brinkemper
- Department of General and Trauma Surgery, BG University Hospital Bergmannsheil, Bürkle-de-la-Camp-Platz 1, 44789 Bochum, Germany.
| | - Alexander von Glinski
- Department of General and Trauma Surgery, BG University Hospital Bergmannsheil, Bürkle-de-la-Camp-Platz 1, 44789 Bochum, Germany
| | - Thomas Armin Schildhauer
- Department of General and Trauma Surgery, BG University Hospital Bergmannsheil, Bürkle-de-la-Camp-Platz 1, 44789 Bochum, Germany
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Ziaei M, Choobineh A, Ghaem H, Abdoli-Eramaki M. Evaluation of a passive low-back support exoskeleton (Ergo-Vest) for manual waste collection. ERGONOMICS 2021; 64:1255-1270. [PMID: 33866962 DOI: 10.1080/00140139.2021.1915502] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/26/2020] [Accepted: 04/06/2021] [Indexed: 06/12/2023]
Abstract
The purpose of study was to determine the biomechanical, physiological, and subjective effect of a Passive Exoskeleton device (called Ergo-Vest) among 20 waste collectors in the working environment. Compression force and moment on L4/L5 related to 400 critical postures of the participants were estimated using the 3DSSPP software. The heart rate and energy expenditure are measured as the physiological strain using the Polar RS400 Heart Rate Monitor. Borg scale perceived exertion, system usability scale, and ergonomic design indicators of the device were collected as the subjective parameters. Compression force and moment on L4/L5 disc were decreased when the Ergo-Vest was utilised. There was no significant difference in energy expenditure and heart rate with and without the device. The workers' perceived physical exertion was decreased while using the Ergo-Vest. From the perspective of end users, the usability and ergonomic design features of the Ergo-Vest was acceptable. Practitioner summary: The prevalence of musculoskeletal disorders is high among the Iranian waste collectors. To mitigate this occupational problem, the effect of a passive exoskeleton for lower-back support (Ergo-Vest) was investigated on the workers' spine loading, physiological parameters, and perceived physical exertion. The result shows spine force reduction and lower subjective responses.
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Affiliation(s)
- Mansour Ziaei
- School of Health and Nutrition, Bushehr University of Medical Sciences, Bushehr, Iran
| | - Alireza Choobineh
- Research Center for Health Sciences, Institute of Health, Shiraz University of Medical Sciences, Shiraz, Iran
| | - Haleh Ghaem
- Department of Epidemiology, School of Health, Shiraz University of Medical Sciences, Shiraz, Iran
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Crea S, Beckerle P, De Looze M, De Pauw K, Grazi L, Kermavnar T, Masood J, O’Sullivan LW, Pacifico I, Rodriguez-Guerrero C, Vitiello N, Ristić-Durrant D, Veneman J. Occupational exoskeletons: A roadmap toward large-scale adoption. Methodology and challenges of bringing exoskeletons to workplaces. WEARABLE TECHNOLOGIES 2021; 2:e11. [PMID: 38486625 PMCID: PMC10936259 DOI: 10.1017/wtc.2021.11] [Citation(s) in RCA: 48] [Impact Index Per Article: 16.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/26/2021] [Revised: 08/03/2021] [Accepted: 08/08/2021] [Indexed: 03/17/2024]
Abstract
The large-scale adoption of occupational exoskeletons (OEs) will only happen if clear evidence of effectiveness of the devices is available. Performing product-specific field validation studies would allow the stakeholders and decision-makers (e.g., employers, ergonomists, health, and safety departments) to assess OEs' effectiveness in their specific work contexts and with experienced workers, who could further provide useful insights on practical issues related to exoskeleton daily use. This paper reviews present-day scientific methods for assessing the effectiveness of OEs in laboratory and field studies, and presents the vision of the authors on a roadmap that could lead to large-scale adoption of this technology. The analysis of the state-of-the-art shows methodological differences between laboratory and field studies. While the former are more extensively reported in scientific papers, they exhibit limited generalizability of the findings to real-world scenarios. On the contrary, field studies are limited in sample sizes and frequently focused only on subjective metrics. We propose a roadmap to promote large-scale knowledge-based adoption of OEs. It details that the analysis of the costs and benefits of this technology should be communicated to all stakeholders to facilitate informed decision making, so that each stakeholder can develop their specific role regarding this innovation. Large-scale field studies can help identify and monitor the possible side-effects related to exoskeleton use in real work situations, as well as provide a comprehensive scientific knowledge base to support the revision of ergonomics risk-assessment methods, safety standards and regulations, and the definition of guidelines and practices for the selection and use of OEs.
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Affiliation(s)
- Simona Crea
- Scuola Superiore Sant’Anna, The BioRobotics Institute, Pontedera, Italy
- IRCCS Fondazione Don Gnocchi, Florence, Italy
| | - Philipp Beckerle
- Chair of Autonomous Systems and Mechatronics, Friedrich-Alexander-Universität Erlangen-Nürnberg, Erlangen, Germany
- Institute for Mechatronic Systems, Technische Universität Darmstadt, Darmstadt, Germany
| | | | - Kevin De Pauw
- Human Physiology and Sports Physiotherapy Research Group, and Brussels Human Robotics Research Center (BruBotics), Vrije Universiteit Brussel, Brussels, Belgium
| | - Lorenzo Grazi
- Scuola Superiore Sant’Anna, The BioRobotics Institute, Pontedera, Italy
| | - Tjaša Kermavnar
- School of Design, and Confirm Smart Manufacturing Centre, University of Limerick, Limerick, Ireland
| | - Jawad Masood
- Processes and Factory of the Future Department, CTAG – Centro Tecnológico de Automoción de Galicia, Pontevedra, Spain
| | - Leonard W. O’Sullivan
- School of Design, and Confirm Smart Manufacturing Centre, University of Limerick, Limerick, Ireland
| | - Ilaria Pacifico
- Scuola Superiore Sant’Anna, The BioRobotics Institute, Pontedera, Italy
| | - Carlos Rodriguez-Guerrero
- Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussel, Belgium
| | - Nicola Vitiello
- Scuola Superiore Sant’Anna, The BioRobotics Institute, Pontedera, Italy
- IRCCS Fondazione Don Gnocchi, Florence, Italy
| | | | - Jan Veneman
- Chair of COST Action 16116, Hocoma Medical GmbH, Zürich, Switzerland
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Siedl SM, Mara M. Exoskeleton acceptance and its relationship to self-efficacy enhancement, perceived usefulness, and physical relief: A field study among logistics workers. WEARABLE TECHNOLOGIES 2021; 2:e10. [PMID: 38486624 PMCID: PMC10936393 DOI: 10.1017/wtc.2021.10] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/10/2021] [Revised: 06/21/2021] [Accepted: 08/09/2021] [Indexed: 03/17/2024]
Abstract
Objective This field study aimed to explore the effects of exoskeleton use on task-specific self-efficacy beliefs of logistics workers and to relate these effects to usefulness perceptions and technology acceptance. Background A growing number of industrial companies have shown interest in having employees wearing exoskeletons to support their physical health. However, psychological consequences of exoskeleton use and mechanisms associated with workers' acceptance or rejection of exoskeletons are not yet sufficiently understood. Methods A total of 31 logistics workers of a vehicle manufacturing company reported on their work-related self-efficacy, that is, how capable they felt of performing tasks related to their job well, before partaking in half-hour trials of a passive lift-assistive exoskeleton (Laevo V2.5) during their normal work. Afterward, they completed a questionnaire on their exoskeleton-supported self-efficacy and indicated how useful they found the exoskeleton, how much physical relief they felt from wearing it, and how willing they were to continue with its use. Results Overall, wearing the exoskeleton did not lead to increased work-specific self-efficacy. However, indications of interaction effects were found between baseline self-efficacy, perceived physical relief, and perceived usefulness in such a way that workers who experienced the exoskeleton as more strain-relieving or more useful were also more likely to report a post-trial growth in their self-efficacy beliefs. A positive change in self-efficacy, in turn, was associated with a greater willingness to further use the exoskeleton at the workplace.
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Affiliation(s)
- Sandra M. Siedl
- LIT Robopsychology Lab, Johannes Kepler University Linz, Linz, Austria
| | - Martina Mara
- LIT Robopsychology Lab, Johannes Kepler University Linz, Linz, Austria
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