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Chae UR, Lee GH, Kim H, Kim K, Choi J, Hyun DJ, Yun J. Determinants of wearer satisfaction factors for harnesses in upper-limb assistive wearable robots. Heliyon 2024; 10:e26518. [PMID: 38434064 PMCID: PMC10906295 DOI: 10.1016/j.heliyon.2024.e26518] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/16/2023] [Revised: 09/11/2023] [Accepted: 02/14/2024] [Indexed: 03/05/2024] Open
Abstract
Wearable robots are increasingly being deployed for use in industrial fields. However, only a few studies have focused on the usability of wearable robots. The present study evaluated the factors affecting the usability of a harness in securing a wearable robot to the body because the harness directly affects the work efficiency, and thus its design and use require careful consideration. A comparative evaluation of the arrangement of the Vest Exoskeleton before and after improvements was conducted, in which participants performed a benchmark assembly task while wearing the robot. Results showed that wearability decreased after the improvements due to the additional straps and buckles used, but the overall wearing satisfaction improved as a result of increased stability. Stability and convenience were the main factors affecting the overall wearing satisfaction, while sub-indicators included wearing comfort and tactile sensation. Therefore, improvements in stability, such as those related to fixation strength and tactile sensation, had a direct positive impact on the overall wearing satisfaction.
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Affiliation(s)
- U Ri Chae
- Innovative Transportation and Logistics Research Center, Korea Railroad Research Institute, Uiwang-si, Gyeonggi-do, 16105, Republic of Korea
| | - Gi Hyun Lee
- Korea National Industrial Convergence Center, Korea Institute of Industrial Technology, Ansan-si, Gyeonggi-do, 15588, Republic of Korea
| | - Hongbum Kim
- College of Business, Gachon University, Seongnam-si, Gyeonggi-do, 13120, Republic of Korea
| | - Kyujung Kim
- Robotics Lab, Hyundai Motor Company, Uiwang-si, Gyeonggi-do, 16082, Republic of Korea
| | - Jongkyu Choi
- Robotics Lab, Hyundai Motor Company, Uiwang-si, Gyeonggi-do, 16082, Republic of Korea
| | - Dong Jin Hyun
- Robotics Lab, Hyundai Motor Company, Uiwang-si, Gyeonggi-do, 16082, Republic of Korea
| | - Jungmin Yun
- Korea National Industrial Convergence Center, Korea Institute of Industrial Technology, Ansan-si, Gyeonggi-do, 15588, Republic of Korea
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Musso M, Oliveira AS, Bai S. Influence of an upper limb exoskeleton on muscle activity during various construction and manufacturing tasks. APPLIED ERGONOMICS 2024; 114:104158. [PMID: 37890312 DOI: 10.1016/j.apergo.2023.104158] [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: 06/13/2023] [Revised: 08/31/2023] [Accepted: 10/16/2023] [Indexed: 10/29/2023]
Abstract
Musculoskeletal disorders (MSDs) significantly impact workers in the manufacturing and construction sectors. One solution that has gained interest to reduce MSDs incidence is the use of exoskeletons. In this study, the influence of an upper limb exoskeleton on muscle activity was investigated experimentally for three commonly performed tasks in the manufacturing and construction sectors. The tasks tested were overhead assembly, bricklaying, and box moving tasks. Eighteen males participated in the tests. The results showed a reduction in shoulder flexor muscle activation during all three tasks (up to -45.46 ± 4.52% for the anterior deltoid), but increased extensor activation (up to 15.47 ± 8.01% for the latissimus dorsi) was observed when the task was not primarily performed above shoulder level. The results revealed the dependence of the upper-body exoskeleton on tasks and arm posture, which should be considered for both in-field applications and designing new exoskeletons for performance enhancement.
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Affiliation(s)
- Matteo Musso
- Department of Material and Production, Aalborg University, Fredrik Bajers Vej 7K, Aalborg, 9220, Denmark.
| | - Anderson Souza Oliveira
- Department of Material and Production, Aalborg University, Fredrik Bajers Vej 7K, Aalborg, 9220, Denmark.
| | - Shaoping Bai
- Department of Material and Production, Aalborg University, Fredrik Bajers Vej 7K, Aalborg, 9220, Denmark.
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Vasquez ED, Simpson CS, Zhou G, Lansberg M, Okamura AM. Evaluation of a Passive Wearable Device for Post-Stroke Shoulder Abduction Support. IEEE Int Conf Rehabil Robot 2023; 2023:1-6. [PMID: 37941216 DOI: 10.1109/icorr58425.2023.10304815] [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
Post-stroke upper extremity function can be improved by devices that support shoulder abduction. However, many of these devices provide limited assistance in activities of daily living due to their complexity and encumbrance. We developed and evaluated a passive, lightweight (0.6 kg) wearable device consisting of an aluminum frame and elastic bands attached to a posture vest to aid in shoulder abduction. The number and thickness of bands can be adjusted to provide supportive forces to the affected arm. We measured reachable workspace area and Wolf Motor Function Test (WMFT) performance in people with a history of stroke (n = 11) with and without the wearable. The device increased workspace area in 6 participants and improved average WMFT functional and timing scores in 7 and 12 tasks, respectively, out of 16 total tasks. On average, participants increased their arm motion within 20 cm of shoulder level by 22.4% and decreased their hand's average distance from trunk by 15.2%, both improvements in the device case.
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Tahir A, Bai S, Shen M. A Wearable Multi-Modal Digital Upper Limb Assessment System for Automatic Musculoskeletal Risk Evaluation. SENSORS (BASEL, SWITZERLAND) 2023; 23:4863. [PMID: 37430776 DOI: 10.3390/s23104863] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/21/2023] [Revised: 05/12/2023] [Accepted: 05/16/2023] [Indexed: 07/12/2023]
Abstract
Continuous ergonomic risk assessment of the human body is critical to avoid various musculoskeletal disorders (MSDs) for people involved in physical jobs. This paper presents a digital upper limb assessment (DULA) system that automatically performs rapid upper limb assessment (RULA) in real-time for the timely intervention and prevention of MSDs. While existing approaches require human resources for computing the RULA score, which is highly subjective and untimely, the proposed DULA achieves automatic and objective assessment of musculoskeletal risks using a wireless sensor band embedded with multi-modal sensors. The system continuously tracks and records upper limb movements and muscle activation levels and automatically generates musculoskeletal risk levels. Moreover, it stores the data in a cloud database for in-depth analysis by a healthcare expert. Limb movements and muscle fatigue levels can also be visually seen using any tablet/computer in real-time. In the paper, algorithms of robust limb motion detection are developed, and an explanation of the system is provided along with the presentation of preliminary results, which validate the effectiveness of the new technology.
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Affiliation(s)
- Abdullah Tahir
- Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark
- Department of Mechanical, Mechatronics, and Manufacturing Engineering, University of Engineering & Technology Lahore, Faisalabad Campus, Faisalabad 38000, Pakistan
| | - Shaoping Bai
- Department of Materials and Production, Aalborg University, 9220 Aalborg, Denmark
| | - Ming Shen
- Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark
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Modeling of a Non-Rigid Passive Exoskeleton-Mathematical Description and Musculoskeletal Simulations. ROBOTICS 2022. [DOI: 10.3390/robotics11060147] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/12/2022] Open
Abstract
There is a growing application of passive exoskeletons in the industrial sector with the purpose to reduce the incidence of work-related musculoskeletal disorders (MSDs). Nowadays, while many passive shoulder exoskeletons have been developed to support overhead tasks, they present limitations in supporting tasks such as load lifting and carrying. Further developments are therefore needed to have a wider application of these devices in the industrial sector. This paper presents a modelling procedure of a passive non-rigid exoskeleton for shoulder support that can be used to evaluate the device in its development phase. The modelling began with the definition of the equations to describe the exoskeleton kinematics and dynamics to obtain the support force profile provided by the device over the shoulder flexion angle. A musculoskeletal simulation software was then used to evaluate the effect of the device on the human body. The computed support force profile is in agreement with the purpose of the device, with the maximal support force obtained for a shoulder flexion angle of 85–90°. The maximum support force value had the same magnitude as the one reported by the device user manual (3.5 kg). In particular, for a determined exoskeleton configuration, the maximum support force value computed was 34.3 N, equal to the reported by the manufacturer. The subsequent musculoskeletal simulation showed the ability of the device to reduce the muscular activation of agonist muscles such as the anterior deltoid (−36.01%) compared to the case when the exoskeleton is not used. The musculoskeletal results showed a positive effect of the device on the joint reaction forces at the glenohumeral joint with a reduction up to 41.91%. Overall the methodology and the mathematical model proposed can be used to further develop these devices, making them suitable for a wider range of tasks.
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Schiebl J, Tröster M, Idoudi W, Gneiting E, Spies L, Maufroy C, Schneider U, Bauernhansl T. Model-Based Biomechanical Exoskeleton Concept Optimization for a Representative Lifting Task in Logistics. INTERNATIONAL JOURNAL OF ENVIRONMENTAL RESEARCH AND PUBLIC HEALTH 2022; 19:15533. [PMID: 36497613 PMCID: PMC9740899 DOI: 10.3390/ijerph192315533] [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: 10/28/2022] [Revised: 11/18/2022] [Accepted: 11/19/2022] [Indexed: 06/17/2023]
Abstract
Occupational exoskeletons are a promising solution to prevent work-related musculoskeletal disorders (WMSDs). However, there are no established systems that support heavy lifting to shoulder height. Thus, this work presents a model-based analysis of heavy lifting activities and subsequent exoskeleton concept optimization. Six motion sequences were captured in the laboratory for three subjects and analyzed in multibody simulations with respect to muscle activities (MAs) and joint forces (JFs). The most strenuous sequence was selected and utilized in further simulations of a human model connected to 32 exoskeleton concept variants. Six simulated concepts were compared concerning occurring JFs and MAs as well as interaction loads in the exoskeleton arm interfaces. Symmetric uplifting of a 21 kg box from hip to shoulder height was identified as the most strenuous motion sequence with highly loaded arms, shoulders, and back. Six concept variants reduced mean JFs (spine: >70%, glenohumeral joint: >69%) and MAs (back: >63%, shoulder: >59% in five concepts). Parasitic loads in the arm bracing varied strongly among variants. An exoskeleton design was identified that effectively supports heavy lifting, combining high musculoskeletal relief and low parasitic loads. The applied workflow can help developers in the optimization of exoskeletons.
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Affiliation(s)
- Jonas Schiebl
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
| | - Mark Tröster
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
| | - Wiem Idoudi
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
| | - Elena Gneiting
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
| | - Leon Spies
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
| | - Christophe Maufroy
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
| | - Urs Schneider
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
- Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, 70569 Stuttgart, Germany
| | - Thomas Bauernhansl
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
- Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, 70569 Stuttgart, Germany
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Du Z, Yan Z, Huang T, Bai O, Huang Q, Zhang T, Han B. Development and Experimental Validation of a Passive Exoskeletal Vest. IEEE Trans Neural Syst Rehabil Eng 2022; PP:1941-1950. [PMID: 35816530 DOI: 10.1109/tnsre.2022.3189666] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
Passive upper limb exoskeletons are often designed to relieve muscle fatigue of manufacturing workers. Existing exoskeletons often provide partial assistance, and their assistive torque is only affected by elastic elements and mechanisms, which, however, are not sufficient because of the changing load of the shoulder joint due to the motion of the elbow and the weight of various tools. To improve the assistive effect without affecting the free movement of the arm, a passive exoskeletal vest has been designed. This exoskeleton has two operating states which can be switched using a unique ratchet bar mechanism. The upper arm can be locked at any vertical position when engaged. The assistive torque is determined by the load. The arm also can move freely without any resistance when separated. Seven subjects participated in the evaluation experiment, who performed static tasks, precision tasks, and dynamic tasks. The experimental data demonstrate that (1) the exoskeleton can effectively reduce the activation level of related muscles at a variety of tasks. (2) The accuracy and stability of the arm during heavy work are not affected. (3) The exoskeleton has a minimal restriction on the range of motion of the arm. (4) the comfort and portability achieved a high score of 8 (1-10) from subjective measures. The experimental results further revealed that the designed exoskeletal vest could effectively relieve the shoulder burden, where it does not impede or restrain the arms movements.
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Balser F, Desai R, Ekizoglou A, Bai S. Corrections to “A Novel Passive Shoulder Exoskeleton Designed With Variable Stiffness Mechanism”. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3180135] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Affiliation(s)
- Felix Balser
- Department of Materials and Production, Aalborg University, Aalborg, Denmark
| | - Rohan Desai
- Department of Materials and Production, Aalborg University, Aalborg, Denmark
| | | | - Shaoping Bai
- Department of Materials and Production, Aalborg University, Aalborg, Denmark
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