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Ibrahim A, Okpala I, Nnaji C, Akanmu A. Effects of using an active hand exoskeleton for drilling tasks: A pilot study. JOURNAL OF SAFETY RESEARCH 2024; 90:381-391. [PMID: 39251294 DOI: 10.1016/j.jsr.2024.05.004] [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: 03/10/2023] [Revised: 02/07/2024] [Accepted: 05/09/2024] [Indexed: 09/11/2024]
Abstract
INTRODUCTION Several studies have assessed and validated the impact of exoskeletons on back and shoulder muscle activation; however, limited research has explored the role that exoskeletons could play in mitigating lower arm-related disorders. This study assessed the impact of Ironhand, an active hand exoskeleton (H-EXO) designed to reduce grip force exertion, on worker exertion levels using a two-phase experimental design. METHOD Ten male participants performed a controlled, simulated drilling activity, while three male participants completed an uncontrolled concrete demolition activity. The impact of the exoskeleton was assessed in terms of muscle activity across three different muscles using electromyography (EMG), perceived exertion, and perceived effectiveness. RESULTS Results indicate that peak muscle activation decreased across the target muscle group when the H-EXO was used, with the greatest reduction (27%) observed in the Extensor Carpi Radialis (ECR). Using the exoskeleton in controlled conditions did not significantly influence perceived exertion levels. Users indicated that the H-EXO was a valuable technology and expressed willingness to use it for future tasks. PRACTICAL APPLICATIONS This study showcases how glove-based exoskeletons can potentially reduce wrist-related disorders, thereby improving safety and productivity among workers. Future work should assess the impact of the H-EXO in various tasks, different work environments and configurations, and among diverse user groups.
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Affiliation(s)
- Abdullahi Ibrahim
- Department of Construction Science, Texas A&M University, 101 Coke Building, College Station, TX 77840, USA.
| | - Ifeanyi Okpala
- Department of Civil, Construction, and Environmental Engineering, The University of Alabama, 3043 HM Comer, Tuscaloosa, AL 35487, USA.
| | - Chukwuma Nnaji
- Department of Construction Science, Texas A&M University, 101 Coke Building, College Station, TX 77840, USA.
| | - Abiola Akanmu
- Myers Lawson School of Construction, Virginia Tech, Blacksburg, VA 24060, USA.
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Sposito M, Fanti V, Poliero T, Caldwell DG, Di Natali C. Field assessment of active BSE: Trends over test days of subjective indicators and self-reported fatigue for railway construction workers. Heliyon 2024; 10:e33055. [PMID: 39021938 PMCID: PMC11252747 DOI: 10.1016/j.heliyon.2024.e33055] [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: 02/13/2024] [Revised: 05/28/2024] [Accepted: 06/06/2024] [Indexed: 07/20/2024] Open
Abstract
The research community has conducted several controlled "in -lab" assessments on the effectiveness of industrial exoskeletons, paving the way for their adoption. However, field testing, focusing on ergonomics and the user experience, could serve to enhance both end-users' awareness and address open doubts concerning true effectiveness of industrial exoskeletons. This study presents an analysis of qualitative data regarding the use of back-support exoskeletons during field trials in harsh civil engineering environments. This work evaluates the StreamEXO's (an active back-support exoskeleton) efficacy in reducing fatigue and the evolution of its perceived usefulness. This is achieved using qualitative data collection tools, during real scenarios testing over multiple-day trials. Collected data shows a positive correlation between self-reported fatigue, measured on a four verbal anchors-based Borg CR10 scale, and the use of the exoskeleton during physically demanding movements. Moreover, the evolution of scores throughout the testing sessions (90 minutes of exoskeleton use for three nonconsecutive days) suggests a trend due to the adaptation and learning curve of workers during the exoskeleton experience. The analysis of the open-ended answers highlights that the adaptation to physical interaction has a negative oscillation on day two to rise back during the third day, possibly correlated to a change in muscle pattern. The main critical factors affecting comfort during the exoskeleton experience are weight balance, body pressure, and thermal comfort, which can strongly affect device acceptance.
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Affiliation(s)
- Matteo Sposito
- Istituto Italiano di Tecnologia, Advanced Robotics, Italy
| | - Vasco Fanti
- Istituto Italiano di Tecnologia, Advanced Robotics, Italy
- University of Genoa, Department of Informatics, Bioengineering, Robotics and System Engineering, Italy
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Ramella G, Grazi L, Giovacchini F, Trigili E, Vitiello N, Crea S. Evaluation of antigravitational support levels provided by a passive upper-limb occupational exoskeleton in repetitive arm movements. APPLIED ERGONOMICS 2024; 117:104226. [PMID: 38219374 DOI: 10.1016/j.apergo.2024.104226] [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: 07/07/2023] [Revised: 10/24/2023] [Accepted: 01/05/2024] [Indexed: 01/16/2024]
Abstract
Upper-limb occupational exoskeletons to support the workers' upper arms are typically designed to provide antigravitational support. Although typical work activities require workers to perform static and dynamic actions, the majority of the studies in literature investigated the effects of upper-limb occupational exoskeletons in static and quasi-static activities, while only a few works focused on dynamic tasks. This article presents a systematic evaluation of the effects of different levels of antigravitational support (from about 60% to 100% of the arm gravitational load) provided by a passive upper-limb occupational exoskeleton on muscles' activity during repetitive arm movements. The effect of the exoskeleton on muscle activity was evaluated by the comparison of muscle activations with and without the exoskeleton. The average muscle activation was computed considering shoulder full flexion-extension cycles, and sub-movements, namely the arm-lifting (i.e., flexion) and arm-lowering (i.e., extension) movements. Results showed a quasi-linear correlation between antigravitational support and muscle activity reductions, both when considering the full flexion-extension cycle and in the arm-lifting movement (reductions were up to 64 and 61% compared to not wearing the exoskeleton, respectively). When considering the arm-lowering movement, providing antigravitational support close to or higher than 100% of the arm gravitational load led to increased muscle activations of the extensors (up to 127%), suggesting that such an amount of antigravitational support may be not effective for a complete biomechanical load reduction on the shoulder district in dynamic tasks.
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Affiliation(s)
- Giulia Ramella
- Biorobotics Laboratory, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), 1015, Lausanne, Switzerland
| | - Lorenzo Grazi
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025 Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy.
| | | | - Emilio Trigili
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025 Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
| | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025 Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy; IRCCS Fondazione Don Carlo Gnocchi, 50143 Florence, Italy
| | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025 Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy; IRCCS Fondazione Don Carlo Gnocchi, 50143 Florence, Italy
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Coccia A, Capodaglio EM, Amitrano F, Gabba V, Panigazzi M, Pagano G, D'Addio G. Biomechanical Effects of Using a Passive Exoskeleton for the Upper Limb in Industrial Manufacturing Activities: A Pilot Study. SENSORS (BASEL, SWITZERLAND) 2024; 24:1445. [PMID: 38474980 DOI: 10.3390/s24051445] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/29/2023] [Revised: 02/16/2024] [Accepted: 02/21/2024] [Indexed: 03/14/2024]
Abstract
This study investigates the biomechanical impact of a passive Arm-Support Exoskeleton (ASE) on workers in wool textile processing. Eight workers, equipped with surface electrodes for electromyography (EMG) recording, performed three industrial tasks, with and without the exoskeleton. All tasks were performed in an upright stance involving repetitive upper limbs actions and overhead work, each presenting different physical demands in terms of cycle duration, load handling and percentage of cycle time with shoulder flexion over 80°. The use of ASE consistently lowered muscle activity in the anterior and medial deltoid compared to the free condition (reduction in signal Root Mean Square (RMS) -21.6% and -13.6%, respectively), while no difference was found for the Erector Spinae Longissimus (ESL) muscle. All workers reported complete satisfaction with the ASE effectiveness as rated on Quebec User Evaluation of Satisfaction with Assistive Technology (QUEST), and 62% of the subjects rated the usability score as very high (>80 System Usability Scale (SUS)). The reduction in shoulder flexor muscle activity during the performance of industrial tasks is not correlated to the level of ergonomic risk involved. This preliminary study affirms the potential adoption of ASE as support for repetitive activities in wool textile processing, emphasizing its efficacy in reducing shoulder muscle activity. Positive worker acceptance and intention to use ASE supports its broader adoption as a preventive tool in the occupational sector.
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Affiliation(s)
- Armando Coccia
- Bioengineering Unit of Telese Terme Institute, Istituti Clinici Scientifici Maugeri IRCCS, 82037 Telese Terme, BN, Italy
| | - Edda Maria Capodaglio
- Occupational Therapy and Ergonomics Unit of Pavia Institute, Istituti Clinici Scientifici Maugeri IRCCS, 27100 Pavia, PV, Italy
| | - Federica Amitrano
- Bioengineering Unit of Telese Terme Institute, Istituti Clinici Scientifici Maugeri IRCCS, 82037 Telese Terme, BN, Italy
| | - Vittorio Gabba
- Department of Clinical-Surgical, Diagnostic and Pediatrics, University of Pavia, 27100 Pavia, PV, Italy
| | - Monica Panigazzi
- Occupational Therapy and Ergonomics Unit of Montescano Institute, Istituti Clinici Scientifici Maugeri IRCCS, 27040 Montescano, PV, Italy
| | - Gaetano Pagano
- Bioengineering Unit of Bari Institute, Istituti Clinici Scientifici Maugeri IRCCS, 70124 Bari, BA, Italy
| | - Giovanni D'Addio
- Bioengineering Unit of Telese Terme Institute, Istituti Clinici Scientifici Maugeri IRCCS, 82037 Telese Terme, BN, Italy
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Okpala I, Nnaji C. Insidious risks of wearable robots to worker safety and health: A scoping review. JOURNAL OF SAFETY RESEARCH 2024; 88:382-394. [PMID: 38485381 DOI: 10.1016/j.jsr.2023.11.010] [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: 07/10/2022] [Revised: 01/12/2023] [Accepted: 11/14/2023] [Indexed: 03/19/2024]
Abstract
INTRODUCTION The construction industry is tormented by a high rate of work-related musculoskeletal disorders (WMSDs) and flat or declining productivity rates. To improve construction workers' safety, health, and productivity, construction researchers and practitioners are investigating the safe implementation of exoskeletons. However, concern exists that these human-robot interactions (HRI) could amplify the effects of existing health and safety risks and lead to new health and safety risks. Only a few comprehensive studies have identified safety and health hazards inherent in using exoskeletons within construction trades and potential strategies for mitigating these threats. This study attempts to bridge this gap. METHOD A literature search was conducted using electronic databases. The authors relied on a 5-step scoping review process to examine academic publications, industry reports, and fact sheets to generate helpful information for this study. RESULTS The review revealed 36 health and safety hazards associated with using wearable robots in high-risk construction trades. Twenty-two organizational and field-facing strategies were introduced as potential controls to mitigate the identified hazards. CONCLUSIONS The study provided a knowledge-based foundation for HRI safety risk assessment and guidance to optimize pre-task planning. This foundation could lead to significant advances in construction trade safety and the successful execution of tasks by robotic technology. PRACTICAL APPLICATIONS Results from the present study can guide construction practitioners and safety professionals involved in technology integration and safety risk assessment on safe ways to implement wearable robots. Moreover, the present study provides critical insight that could inform the design and implementation of job hazard analysis and shape continuous education programs and safety training. This study prompts policymakers, standard developers, and exoskeleton manufacturers to work closely to ensure a safe future for exoskeletons in the construction industry.
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Affiliation(s)
- Ifeanyi Okpala
- Department of Civil, Construction, and Environmental Engineering, The University of Alabama, 3043 HM Comer, Tuscaloosa, AL 35487, United States.
| | - Chukwuma Nnaji
- Department of Construction Science, Texas A&M University, 574 Ross St, College Station, TX 77840, United States.
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Li X, Wang KY, Yang ZY. Design and analysis of a lower limb assistive exoskeleton robot. Technol Health Care 2024; 32:79-93. [PMID: 38759039 PMCID: PMC11191495 DOI: 10.3233/thc-248007] [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] [Indexed: 05/19/2024]
Abstract
BACKGROUND In recent years, exoskeleton robot technology has developed rapidly. Exoskeleton robots that can be worn on a human body and provide additional strength, speed or other abilities. Exoskeleton robots have a wide range of applications, such as medical rehabilitation, logistics and disaster relief and other fields. OBJECTIVE The study goal is to propose a lower limb assistive exoskeleton robot to provide extra power for wearers. METHODS The mechanical structure of the exoskeleton robot was designed by using bionics principle to imitate human body shape, so as to satisfy the coordination of man-machine movement and the comfort of wearing. Then a gait prediction method based on neural network was designed. In addition, a control strategy according to iterative learning control was designed. RESULTS The experiment results showed that the proposed exoskeleton robot can produce effective assistance and reduce the wearer's muscle force output. CONCLUSION A lower limb assistive exoskeleton robot was introduced in this paper. The kinematics model and dynamic model of the exoskeleton robot were established. Tracking effects of joint angle displacement and velocity were analyzed to verify feasibility of the control strategy. The learning error of joint angle can be improved with increase of the number of iterations. The error of trajectory tracking is acceptable.
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Affiliation(s)
- Xiang Li
- College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, Heilongjiang, China
- School of Mechanical and Civil Engineering, Jilin Agricultural Science and Technology University, Jilin, China
| | - Ke-Yi Wang
- College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, Heilongjiang, China
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Brunner A, van Sluijs R, Luder T, Camichel C, Kos M, Bee D, Bartenbach V, Lambercy O. Effect of passive shoulder exoskeleton support during working with arms over shoulder level. WEARABLE TECHNOLOGIES 2023; 4:e26. [PMID: 38510589 PMCID: PMC10952051 DOI: 10.1017/wtc.2023.21] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/16/2023] [Revised: 08/03/2023] [Accepted: 08/31/2023] [Indexed: 03/22/2024]
Abstract
Musculoskeletal disorders have the highest prevalence of work-related health problems. Due to the aging population, the prevalence of shoulder pain in workers in physically demanding occupations is increasing, thereby causing rising costs to society and underlining the need for preventive technologies. Wearable support structures are designed to reduce the physical work load during physically demanding tasks. Here, we evaluate the physiological benefit of the DeltaSuit, a novel passive shoulder exoskeleton, using an assessment framework that conforms to the approach proposed in the literature. In this study, 32 healthy volunteers performed isometric, quasi-isometric, and dynamic tasks that represent typical overhead work to evaluate the DeltaSuit performance. Muscle activity of the arm, neck, shoulder, and back muscles, as well as cardiac cost, perceived exertion, and task-related discomfort during task execution with and without the exoskeleton were compared. When working with the DeltaSuit, muscle activity was reduced up to 56% (p < 0.001) in the Trapezius Descendens and up to 64% (p < 0.001) in the Deltoideusmedius. Furthermore, we observed no additional loading on the abdomen and back muscles. The use of the exoskeleton resulted in statistically significant reductions in cardiac cost (15%, p < 0.05), perceived exertion (21.5%, p < 0.001), and task-related discomfort in the shoulder (57%, p < 0.001). These results suggest that passive exoskeletons, such as the DeltaSuit, have the potential to meaningfully support users when performing tasks in overhead postures and offer a valuable solution to relieve the critical body parts of biomechanical strains for workers at high risk of musculoskeletal disorders.
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Affiliation(s)
- Annina Brunner
- Department of Health Sciences and Technology, ETH, Zurich, Switzerland
| | | | - Tobias Luder
- Department of Health Sciences and Technology, ETH, Zurich, Switzerland
| | - Cherilyn Camichel
- Department of Health Sciences and Technology, ETH, Zurich, Switzerland
| | - Melanie Kos
- Research and Development, Auxivo AG, Schwerzenbach, Switzerland
| | - Dario Bee
- Research and Development, Auxivo AG, Schwerzenbach, Switzerland
| | | | - Olivier Lambercy
- Department of Health Sciences and Technology, ETH, Zurich, Switzerland
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Tyagi O, Rana Mukherjee T, Mehta RK. Neurophysiological, muscular, and perceptual adaptations of exoskeleton use over days during overhead work with competing cognitive demands. APPLIED ERGONOMICS 2023; 113:104097. [PMID: 37506618 DOI: 10.1016/j.apergo.2023.104097] [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: 04/07/2023] [Revised: 07/09/2023] [Accepted: 07/12/2023] [Indexed: 07/30/2023]
Abstract
This study captured neurophysiological, muscular, and perceptual adaptations to shoulder exoskeleton use during overhead work with competing physical-cognitive demands. Twenty-four males and females, randomly divided into control and exoskeleton groups, performed an overhead reaching and pointing task over three days without (single task) and with (dual task) a working memory task. Task performance, electromyography (EMG), neural activity, heart rate, and subjective responses were collected. While task completion time reduced for both groups at the same rate over days, EMG activity of shoulder muscles was lower for the exoskeleton group for both tasks, specifically for females during the dual task. Dual task reduced the physiological benefits of exoskeletons and neuromotor strategies to adapt to the dual task demands differed between the groups. Neuromuscular benefits of exoskeleton use were immediately realized irrespective of cognitive demand, however the perceptual, physiological, and neural adaptations with exoskeleton use were task- and sex-specific.
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Affiliation(s)
- Oshin Tyagi
- Wm. Michael Barnes '64 Department of Industrial and Systems Engineering, Texas A&M University, College Station, TX, 77843, USA
| | - Tiash Rana Mukherjee
- J. Mike Walker '66 Department of Mechanical Engineering, Texas A&M University, College Station, TX, 77843, USA
| | - Ranjana K Mehta
- Wm. Michael Barnes '64 Department of Industrial and Systems Engineering, Texas A&M University, College Station, TX, 77843, USA; J. Mike Walker '66 Department of Mechanical Engineering, Texas A&M University, College Station, TX, 77843, USA.
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Cunha B, Ferreira R, Sousa ASP. Home-Based Rehabilitation of the Shoulder Using Auxiliary Systems and Artificial Intelligence: An Overview. SENSORS (BASEL, SWITZERLAND) 2023; 23:7100. [PMID: 37631637 PMCID: PMC10459225 DOI: 10.3390/s23167100] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/17/2023] [Revised: 08/07/2023] [Accepted: 08/09/2023] [Indexed: 08/27/2023]
Abstract
Advancements in modern medicine have bolstered the usage of home-based rehabilitation services for patients, particularly those recovering from diseases or conditions that necessitate a structured rehabilitation process. Understanding the technological factors that can influence the efficacy of home-based rehabilitation is crucial for optimizing patient outcomes. As technologies continue to evolve rapidly, it is imperative to document the current state of the art and elucidate the key features of the hardware and software employed in these rehabilitation systems. This narrative review aims to provide a summary of the modern technological trends and advancements in home-based shoulder rehabilitation scenarios. It specifically focuses on wearable devices, robots, exoskeletons, machine learning, virtual and augmented reality, and serious games. Through an in-depth analysis of existing literature and research, this review presents the state of the art in home-based rehabilitation systems, highlighting their strengths and limitations. Furthermore, this review proposes hypotheses and potential directions for future upgrades and enhancements in these technologies. By exploring the integration of these technologies into home-based rehabilitation, this review aims to shed light on the current landscape and offer insights into the future possibilities for improving patient outcomes and optimizing the effectiveness of home-based rehabilitation programs.
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Affiliation(s)
- Bruno Cunha
- Center for Rehabilitation Research—Human Movement System (Re)habilitation Area, Department of Physiotherapy, School of Health-Polytechnic of Porto, Rua Dr. António Bernardino de Almeida, 400, 4200-072 Porto, Portugal;
| | - Ricardo Ferreira
- Institute for Systems and Computer Engineering, Technology and Science—Telecommunications and Multimedia Centre, FEUP, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal;
| | - Andreia S. P. Sousa
- Center for Rehabilitation Research—Human Movement System (Re)habilitation Area, Department of Physiotherapy, School of Health-Polytechnic of Porto, Rua Dr. António Bernardino de Almeida, 400, 4200-072 Porto, Portugal;
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Zhou J, Peng H, Su S, Song R. Spatiotemporal Compliance Control for a Wearable Lower Limb Rehabilitation Robot. IEEE Trans Biomed Eng 2023; 70:1858-1868. [PMID: 37015454 DOI: 10.1109/tbme.2022.3230784] [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: 12/24/2022]
Abstract
Compliance control is crucial for physical human-robot interaction, which can enhance the safety and comfort of robot-assisted rehabilitation. In this study, we designed a spatiotemporal compliance control strategy for a new self-designed wearable lower limb rehabilitation robot (WLLRR), allowing the users to regulate the spatiotemporal characteristics of their motion. The high-level trajectory planner consists of a trajectory generator, an interaction torque estimator, and a gait speed adaptive regulator, which can provide spatial and temporal compliance for the WLLRR. A radial basis function neural network adaptive controller is adopted as the low-level position controller. Over-ground walking experiments with passive control, spatial compliance control, and spatiotemporal compliance control strategies were conducted on five healthy participants, respectively. The results demonstrated that the spatiotemporal compliance control strategy allows participants to adjust reference trajectory through physical human-robot interaction, and can adaptively modify gait speed according to participants' motor performance. It was found that the spatiotemporal compliance control strategy could provide greater enhancement of motor variability and reduction of interaction torque than other tested control strategies. Therefore, the spatiotemporal compliance control strategy has great potential in robot-assisted rehabilitation training and other fields involving physical human-robot interaction.
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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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Brambilla C, Lavit Nicora M, Storm F, Reni G, Malosio M, Scano A. Biomechanical Assessments of the Upper Limb for Determining Fatigue, Strain and Effort from the Laboratory to the Industrial Working Place: A Systematic Review. Bioengineering (Basel) 2023; 10:445. [PMID: 37106632 PMCID: PMC10135542 DOI: 10.3390/bioengineering10040445] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/02/2023] [Revised: 03/24/2023] [Accepted: 04/03/2023] [Indexed: 04/08/2023] Open
Abstract
Recent human-centered developments in the industrial field (Industry 5.0) lead companies and stakeholders to ensure the wellbeing of their workers with assessments of upper limb performance in the workplace, with the aim of reducing work-related diseases and improving awareness of the physical status of workers, by assessing motor performance, fatigue, strain and effort. Such approaches are usually developed in laboratories and only at times they are translated to on-field applications; few studies summarized common practices for the assessments. Therefore, our aim is to review the current state-of-the-art approaches used for the assessment of fatigue, strain and effort in working scenarios and to analyze in detail the differences between studies that take place in the laboratory and in the workplace, in order to give insights on future trends and directions. A systematic review of the studies aimed at evaluating the motor performance, fatigue, strain and effort of the upper limb targeting working scenarios is presented. A total of 1375 articles were found in scientific databases and 288 were analyzed. About half of the scientific articles are focused on laboratory pilot studies investigating effort and fatigue in laboratories, while the other half are set in working places. Our results showed that assessing upper limb biomechanics is quite common in the field, but it is mostly performed with instrumental assessments in laboratory studies, while questionnaires and scales are preferred in working places. Future directions may be oriented towards multi-domain approaches able to exploit the potential of combined analyses, exploitation of instrumental approaches in workplace, targeting a wider range of people and implementing more structured trials to translate pilot studies to real practice.
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Affiliation(s)
- Cristina Brambilla
- Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato (STIIMA), Consiglio Nazionale delle Ricerche (CNR), Via Previati 1/E, 23900 Lecco, Italy
| | - Matteo Lavit Nicora
- Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato (STIIMA), Consiglio Nazionale delle Ricerche (CNR), Via Previati 1/E, 23900 Lecco, Italy
- Industrial Engineering Department, University of Bologna, 40126 Bologna, Italy
| | - Fabio Storm
- Bioengineering Laboratory, Scientific Institute, IRCCS “Eugenio Medea”, 23842 Bosisio Parini, Italy
| | - Gianluigi Reni
- Informatics Department, Autonomous Province of Bolzano, 39100 Bolzano, Italy
| | - Matteo Malosio
- Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato (STIIMA), Consiglio Nazionale delle Ricerche (CNR), Via Previati 1/E, 23900 Lecco, Italy
| | - Alessandro Scano
- Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato (STIIMA), Consiglio Nazionale delle Ricerche (CNR), Via Previati 1/E, 23900 Lecco, Italy
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13
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Ding S, Reyes Francisco A, Li T, Yu H. A novel passive shoulder exoskeleton for assisting overhead work. WEARABLE TECHNOLOGIES 2023; 4:e7. [PMID: 38487772 PMCID: PMC10936402 DOI: 10.1017/wtc.2023.1] [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: 08/28/2022] [Revised: 12/13/2022] [Accepted: 12/28/2022] [Indexed: 03/17/2024]
Abstract
Shoulder exoskeletons (SEs) can assist the shoulder joint of workers during overhead work and are usually passive for good portability. However, current passive SEs face the challenge that their torque generators are often attached to the human arm, which adds a significant amount of weight to the user's arms, resulting in additional energy consumption of the user. In this paper, we present a novel passive SE whose torque generator is attached to the user's back and assists the shoulder joint through Bowden cables. Our approach greatly reduces the weight on the user's arms and can accommodate complex shoulder joint movements with simple and lightweight mechanical structure based on Bowden cables. In addition, to match the nonlinear torque requirements of the shoulder joint, a unique spring-cam mechanism is proposed as the torque generator. To verify the effectiveness of the device, we conducted a usability test based on muscle activations of 10 healthy subjects. When assisting overhead work, the SE significantly reduced the mean and maximum electromyography signals of the shoulder-related muscles by up to 25%. The proposed SE contributes to further research on passive SE design to improve usability, especially in terms of reducing weight on human arms.
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Affiliation(s)
- Shuo Ding
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
| | - Anaya Reyes Francisco
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
| | - Tong Li
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
| | - Haoyong Yu
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
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14
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Song D, Liu S, Gao Y, Huang Y. Human Factor Engineering Research for Rehabilitation Robots: A Systematic Review. COMPUTATIONAL INTELLIGENCE AND NEUROSCIENCE 2023; 2023:2052231. [PMID: 36793706 PMCID: PMC9925240 DOI: 10.1155/2023/2052231] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/12/2022] [Revised: 11/07/2022] [Accepted: 01/23/2023] [Indexed: 02/08/2023]
Abstract
The application of human factors engineering for rehabilitation robots is based on a "human-centered" design philosophy that strives to provide safe and efficient human-robot interaction training for patients rather than depending on rehabilitation therapists. Human factors engineering for rehabilitation robots is undergoing preliminary investigation. However, the depth and breadth of current research do not provide a complete human factor engineering solution for developing rehabilitation robots. This study aims to provide a systematic review of research at the intersection of rehabilitation robotics and ergonomics to understand the progress and state-of-the-art research on critical human factors, issues, and corresponding solutions for rehabilitation robots. A total of 496 relevant studies were obtained from six scientific database searches, reference searches, and citation-tracking strategies. After applying the selection criteria and reading the full text of each study, 21 studies were selected for review and classified into four categories based on their human factor objectives: implementation of high safety, implementation of lightweight and high comfort, implementation of high human-robot interaction, and performance evaluation index and system studies. Based on the results of the studies, recommendations for future research are presented and discussed.
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Affiliation(s)
- Duanshu Song
- School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
- School of Mechatronic Engineering, Jiangsu Normal University, Xuzhou 221116, China
| | - Songyong Liu
- School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
| | - Yixuan Gao
- School of Mechatronic Engineering, Jiangsu Normal University, Xuzhou 221116, China
| | - Yuexin Huang
- Key Laboratory of Industrial Design and Ergonomics, Ministry of Industry and Information Technology, Northwestern Polytechnical University, Xi'an 710072, China
- School of Industrial Design Engineering, Delft University of Technology, Delft 2628CE, Netherlands
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15
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Pacifico I, Aprigliano F, Parri A, Cannillo G, Melandri I, Sabatini AM, Violante FS, Molteni F, Giovacchini F, Vitiello N, Crea S. Evaluation of a spring-loaded upper-limb exoskeleton in cleaning activities. APPLIED ERGONOMICS 2023; 106:103877. [PMID: 36095895 DOI: 10.1016/j.apergo.2022.103877] [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: 03/18/2022] [Revised: 08/09/2022] [Accepted: 08/11/2022] [Indexed: 06/15/2023]
Abstract
In the past few years, companies have started considering the adoption of upper-limb occupational exoskeletons as a solution to reduce the health and cost issues associated with work-related shoulder overuse injuries. Most of the previous research studies have evaluated the efficacy of these devices in laboratories by measuring the reduction in muscle exertion resulting from device use in stereotyped tasks and controlled conditions. However, to date, uncertainties exist about generalizing laboratory results to more realistic conditions of use. The current study aims to investigate the in-field efficacy (through electromyography and perceived exertion), usability, and acceptance of a commercial spring-loaded upper-limb exoskeleton in cleaning job activities. The operators were required to maintain prolonged overhead postures while holding and moving a pole equipped with tools for window and ceiling cleaning. Compared to the normal working condition, the exoskeleton significantly reduced the total shoulder muscle activity (∼17%), the activity of the anterior deltoid (∼26%), medial deltoid (∼28%), and upper trapezius (∼24%). With the exoskeleton, the operators perceived reduced global effort (∼17%) as well as a reduced local effort in the shoulder (∼18%), arm (∼22%), upper back (∼14%), and lower back (∼16%). The beneficial effect of the exoskeleton and its suitability in cleaning settings are corroborated by the acceptance and usability scores assigned by operators, which averaged ∼5.5 out of 7 points. To the authors' knowledge, this study is the first to present an experience of exoskeleton use in cleaning contexts. The outcomes of this research invite further studies to test occupational exoskeletons in various realistic applications to foster scientific-grounded ergonomic evaluations and encourage the informed adoption of the technology.
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Affiliation(s)
| | | | - Andrea Parri
- IUVO S.r.l., Via Puglie 9, 56025, Pontedera, Pisa, Italy
| | - Giusi Cannillo
- Formula Servizi, Via Monteverdi, 31, 47122, Forlì, Italy
| | | | - Angelo Maria Sabatini
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
| | - Francesco Saverio Violante
- Division of Occupational Medicine, IRCCS Azienda Ospedaliero-Universitaria di Bologna.Occupational Medicine Unit, Department of Medical and Surgical Sciences, Alma Mater Studiorum University of Bologna, Italy
| | - Franco Molteni
- Villa Beretta Rehabilitation Center, Valduce Hospital, Via N. Sauro 17, 23845, Costa Masnaga, Lecco, Italy
| | | | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, 33, 56127, Pisa, Italy; IRCCS Fondazione Don Carlo Gnocchi, 50143, Florence, Italy
| | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, 33, 56127, Pisa, Italy; IRCCS Fondazione Don Carlo Gnocchi, 50143, Florence, Italy.
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16
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Mahmud D, Bennett ST, Zhu Z, Adamczyk PG, Wehner M, Veeramani D, Dai F. Identifying Facilitators, Barriers, and Potential Solutions of Adopting Exoskeletons and Exosuits in Construction Workplaces. SENSORS (BASEL, SWITZERLAND) 2022; 22:9987. [PMID: 36560355 PMCID: PMC9785667 DOI: 10.3390/s22249987] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/28/2022] [Revised: 12/14/2022] [Accepted: 12/15/2022] [Indexed: 05/31/2023]
Abstract
Exoskeletons and exosuits (collectively termed EXOs) have the potential to reduce the risk of work-related musculoskeletal disorders (WMSDs) by protecting workers from exertion and muscle fatigue due to physically demanding, repetitive, and prolonged work in construction workplaces. However, the use of EXOs in construction is in its infancy, and much of the knowledge required to drive the acceptance, adoption, and application of this technology is still lacking. The objective of this research is to identify the facilitators, barriers, and corresponding solutions to foster the adoption of EXOs in construction workplaces through a sequential, multistage Delphi approach. Eighteen experts from academia, industry, and government gathered in a workshop to provide insights and exchange opinions regarding facilitators, barriers, and potential solutions from a holistic perspective with respect to business, technology, organization, policy/regulation, ergonomics/safety, and end users (construction-trade professionals). Consensus was reached regarding all these perspectives, including top barriers and potential solution strategies. The outcomes of this study will help the community gain a comprehensive understanding of the potential for EXO use in the construction industry, which may enable the development of a viable roadmap for the evolution of EXO technology and the future of EXO-enabled workers and work in construction workplaces.
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Affiliation(s)
- Dilruba Mahmud
- Wadsworth Department of Civil and Environmental Engineering, West Virginia University, Morgantown, WV 26506, USA
| | - Sean T. Bennett
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA
| | - Zhenhua Zhu
- Department of Civil and Environmental Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA
| | - Peter G. Adamczyk
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA
| | - Michael Wehner
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA
| | - Dharmaraj Veeramani
- Department of Industrial and Systems Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA
| | - Fei Dai
- Wadsworth Department of Civil and Environmental Engineering, West Virginia University, Morgantown, WV 26506, USA
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17
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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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18
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Grazi L, Trigili E, Caloi N, Ramella G, Giovacchini F, Vitiello N, Crea S. Kinematics-Based Adaptive Assistance of a Semi-Passive Upper-Limb Exoskeleton for Workers in Static and Dynamic Tasks. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3188402] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Lorenzo Grazi
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Pisa, Italy
| | - Emilio Trigili
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Pisa, Italy
| | - Noemi Caloi
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Pisa, Italy
| | - Giulia Ramella
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Pisa, Italy
| | | | - Nicola Vitiello
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Pisa, Italy
| | - Simona Crea
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Pisa, Italy
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19
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Sierotowicz M, Brusamento D, Schirrmeister B, Connan M, Bornmann J, Gonzalez-Vargas J, Castellini C. Unobtrusive, natural support control of an adaptive industrial exoskeleton using force myography. Front Robot AI 2022; 9:919370. [PMID: 36172305 PMCID: PMC9510611 DOI: 10.3389/frobt.2022.919370] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/13/2022] [Accepted: 07/26/2022] [Indexed: 11/18/2022] Open
Abstract
Repetitive or tiring tasks and movements during manual work can lead to serious musculoskeletal disorders and, consequently, to monetary damage for both the worker and the employer. Among the most common of these tasks is overhead working while operating a heavy tool, such as drilling, painting, and decorating. In such scenarios, it is desirable to provide adaptive support in order to take some of the load off the shoulder joint as needed. However, even to this day, hardly any viable approaches have been tested, which could enable the user to control such assistive devices naturally and in real time. Here, we present and assess the adaptive Paexo Shoulder exoskeleton, an unobtrusive device explicitly designed for this kind of industrial scenario, which can provide a variable amount of support to the shoulders and arms of a user engaged in overhead work. The adaptive Paexo Shoulder exoskeleton is controlled through machine learning applied to force myography. The controller is able to determine the lifted mass and provide the required support in real time. Twelve subjects joined a user study comparing the Paexo driven through this adaptive control to the Paexo locked in a fixed level of support. The results showed that the machine learning algorithm can successfully adapt the level of assistance to the lifted mass. Specifically, adaptive assistance can sensibly reduce the muscle activity's sensitivity to the lifted mass, with an observed relative reduction of up to 31% of the muscular activity observed when lifting 2 kg normalized by the baseline when lifting no mass.
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Affiliation(s)
- Marek Sierotowicz
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Erlangen, Germany
- Artificial Intelligence in Biomedical Engineering, Friedrich-Alexander-Universität Erlangen-Nürnberg, Erlangen, Germany
| | - Donato Brusamento
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Erlangen, Germany
| | | | - Mathilde Connan
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Erlangen, Germany
| | - Jonas Bornmann
- Global Research, Ottobock SE and Co. KGaA, Duderstadt, Germany
| | | | - Claudio Castellini
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Erlangen, Germany
- Artificial Intelligence in Biomedical Engineering, Friedrich-Alexander-Universität Erlangen-Nürnberg, Erlangen, Germany
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20
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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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21
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Pacifico I, Parri A, Taglione S, Sabatini AM, Violante FS, Molteni F, Giovacchini F, Vitiello N, Crea S. Exoskeletons for workers: A case series study in an enclosures production line. APPLIED ERGONOMICS 2022; 101:103679. [PMID: 35066399 DOI: 10.1016/j.apergo.2022.103679] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/15/2021] [Revised: 12/20/2021] [Accepted: 01/05/2022] [Indexed: 06/14/2023]
Abstract
This case-series study aims to investigate the effects of a passive shoulder support exoskeleton on experienced workers during their regular work shifts in an enclosures production site. Experimental activities included three sessions, two of which were conducted in-field (namely, at two workstations of the painting line, where panels were mounted and dismounted from the line; each session involved three participants), and one session was carried out in a realistic simulated environment (namely, the workstations were recreated in a laboratory; this session involved four participants). The effect of the exoskeleton was evaluated through electromyographic activity and perceived effort. After in-field sessions, device usability and user acceptance were also assessed. Data were reported individually for each participant. Results showed that the use of the exoskeleton reduced the total shoulder muscular activity compared to normal working conditions, in all subjects and experimental sessions. Similarly, the use of the exoskeleton resulted in reductions of the perceived effort in the shoulder, arm, and lower back. Overall, participants indicated high usability and acceptance of the device. This case series invites larger validation studies, also in diverse operational contexts.
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Affiliation(s)
- Ilaria Pacifico
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, 33, 56127, Pisa, Italy.
| | - Andrea Parri
- IUVO S.r.l., via Puglie 9, 56025, Pontedera, Pisa, Italy
| | - Silverio Taglione
- ABB S.p.A. PG Breakers & Enclosures, Hub Italy, Electrification Business Area, Smart Power Division, Via Italia, 58, 23846, Garbagnate Monastero, Lecco, Italy
| | - Angelo Maria Sabatini
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
| | - Francesco Saverio Violante
- Division of Occupational Medicine, IRCCS Azienda Ospedaliero-Universitaria di Bologna, Italy; Occupational Medicine Unit, Department of Medical and Surgical Sciences, Alma Mater Studiorum University of Bologna, Italy
| | - Franco Molteni
- Villa Beretta Rehabilitation Center, Valduce Hospital, Via N. Sauro 17, 23845, Costa Masnaga, Lecco, Italy
| | | | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, 33, 56127, Pisa, Italy; IRCCS Fondazione Don Carlo Gnocchi, 50143, Florence, Italy
| | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, 33, 56127, Pisa, Italy; IRCCS Fondazione Don Carlo Gnocchi, 50143, Florence, Italy.
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22
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Garosi E, Mazloumi A, Jafari AH, Keihani A, Shamsipour M, Kordi R, Kazemi Z. Design and ergonomic assessment of a passive head/neck supporting exoskeleton for overhead work use. APPLIED ERGONOMICS 2022; 101:103699. [PMID: 35114511 DOI: 10.1016/j.apergo.2022.103699] [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: 05/19/2021] [Revised: 01/22/2022] [Accepted: 01/24/2022] [Indexed: 06/14/2023]
Abstract
Overhead work is an important risk factor associated with musculoskeletal disorders of the neck and shoulder region. This study aimed to propose and evaluate a passive head/neck supporting exoskeleton (HNSE) as a potential ergonomic intervention for overhead work applications. Fourteen male participants were asked to perform a simulated overhead task of fastening/unfastening nut in 4 randomized sessions, characterized by two variables: neck extension angle (40% and 80% of neck maximum range of motion) and exoskeleton condition (wearing and not wearing the HNSE). Using the HNSE, significantly alleviated perceived discomfort in the neck (p-value = 0.009), right shoulder (p-value = 0.05) and left shoulder (p-value = 0.02) and reduced electromyographic activity of the right (p-value = 0.005) and left (p-value = 0.01) sternocleidomastoid muscles. However, utilizing the exoskeleton caused a remarkable increase in right (p-value = 0.04) and left (p-value = 0.05) trapezius electromyographic activities. Performance was not significantly affected by the HNSE. Although the HNSE had promising effects with respect to discomfort and muscular activity in the static overhead task, future work is still needed to investigate its effect on performance and to provide support for the generalizability of study results.
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Affiliation(s)
- Ehsan Garosi
- Department of Occupational Health Engineering, School of Public Health, Tehran University of Medical Sciences, Iran; Department of Ergonomics, School of Public Health, Iran University of Medical Sciences, Iran
| | - Adel Mazloumi
- Department of Occupational Health Engineering, School of Public Health, Tehran University of Medical Sciences, Iran; Sports Medicine Research Center, Neuroscience Institute, Tehran University of Medical Sciences, Tehran, Iran.
| | - Amir Homayoun Jafari
- Medical Physics & Biomedical Engineering Department, School of Medicine, Tehran University of Medical Sciences, Tehran, Iran
| | - Ahmadreza Keihani
- Medical Physics & Biomedical Engineering Department, School of Medicine, Tehran University of Medical Sciences, Tehran, Iran
| | - Mansour Shamsipour
- Department of Research Methodology and Data Analysis, Institute for Environmental Research, Tehran University of Medical Sciences, Tehran, Iran
| | - Ramin Kordi
- Sports Medicine Research Center, Neuroscience Institute, Tehran University of Medical Sciences, Tehran, Iran
| | - Zeinab Kazemi
- Department of Ergonomics, School of Public Health, Iran University of Medical Sciences, Iran
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23
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Moeller T, Krell-Roesch J, Woll A, Stein T. Effects of Upper-Limb Exoskeletons Designed for Use in the Working Environment—A Literature Review. Front Robot AI 2022; 9:858893. [PMID: 35572378 PMCID: PMC9099018 DOI: 10.3389/frobt.2022.858893] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/20/2022] [Accepted: 03/11/2022] [Indexed: 11/13/2022] Open
Abstract
Introduction: Many employees report high physical strain from overhead work and resulting musculoskeletal disorders. The consequences of these conditions extend far beyond everyday working life and can severely limit the quality of life of those affected. One solution to this problem may be the use of upper-limb exoskeletons, which are supposed to relieve the shoulder joint in particular. The aim of this literature review was to provide an overview of the use and efficacy of exoskeletons for upper extremities in the working environment.Methods: A literature review was conducted using the PICO scheme and the PRISMA statement. To this end, a systematic search was performed in the PubMed, Web of Science and Scopus databases in May 2020 and updated in February 2022. The obtained studies were screened using previously defined inclusion and exclusion criteria and assessed for quality. Pertinent data were then extracted from the publications and analyzed with regard to type of exoskeleton used as well as efficacy of exoskeleton use.Results: 35 suitable studies were included in the review. 18 different exoskeletons were examined. The majority of the exoskeletons only supported the shoulder joint and were used to assist individuals working at or above shoulder level. The main focus of the studies was the reduction of muscle activity in the shoulder area. Indeed, 16 studies showed a reduced activity in the deltoid and trapezius muscles after exoskeleton use. Kinematically, a deviation of the movement behavior could be determined in some models. In addition, study participants reported perceived reduction in exertion and discomfort.Discussion: Exoskeletons for upper extremities may generate significant relief for the intended tasks, but the effects in the field (i.e., working environment) are less pronounced than in the laboratory setting. This may be due to the fact that not only overhead tasks but also secondary tasks have to be performed in the field. In addition, currently available exoskeletons do not seem to be suitable for all overhead workplaces and should always be assessed in the human-workplace context. Further studies in various settings are required that should also include more females and older people.
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Missiroli F, Lotti N, Tricomi E, Bokranz C, Alicea R, Xiloyannis M, Krzywinski J, Crea S, Vitiello N, Masia L. Rigid, Soft, Passive, and Active: A Hybrid Occupational Exoskeleton for Bimanual Multijoint Assistance. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3142447] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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25
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Research on control method of upper limb exoskeleton based on mixed perception model. ROBOTICA 2022. [DOI: 10.1017/s0263574722000480] [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]
Abstract
Abstract
As one of the research hotspots in the field of rehabilitation robotics, the upper limb exoskeleton robot has been widely used in the field of rehabilitation. However, the existing methods cannot comprehensively and accurately reflect the motion state of patients, which may lead to overtraining and secondary injury of patients in the process of rehabilitation training. In this paper, an upper limb exoskeleton control method based on mixed perception model of motion intention and intensity is proposed, which is based on the 6 degree-of-freedom upper limb rehabilitation exoskeleton in the laboratory. First, the kinematic information and heart rate information in the rehabilitation process of patients are collected, corresponding to patients’ motion intention and motion intensity, and fused to obtain the mixed perception vector. Second, the motion perception model based on long short-term memory neural network is established to realize the prediction of upper limb motion trajectory of patients and compared with back-propagation neural network to prove its effectiveness. Finally, the control system is built, and both offline and online test of the control method proposed are implemented. The experimental results show that the method can achieve comprehensive motion state perception of patients, realize real-time and accurate prediction trajectory according to human motion intention and intensity. The average prediction accuracy is 95.3%, and predicted joint angle error is less than 5 degrees. Therefore, the control method based on mixed perception model has good robustness and universality, which provides a new method for the active control of upper limb exoskeleton.
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26
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Balser F, Desai R, Ekizoglou A, Bai S. A Novel Passive Shoulder Exoskeleton Designed With Variable Stiffness Mechanism. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3144529] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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27
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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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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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30
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Tiboni M, Borboni A, Vérité F, Bregoli C, Amici C. Sensors and Actuation Technologies in Exoskeletons: A Review. SENSORS (BASEL, SWITZERLAND) 2022; 22:884. [PMID: 35161629 PMCID: PMC8839165 DOI: 10.3390/s22030884] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/31/2021] [Revised: 01/16/2022] [Accepted: 01/19/2022] [Indexed: 02/06/2023]
Abstract
Exoskeletons are robots that closely interact with humans and that are increasingly used for different purposes, such as rehabilitation, assistance in the activities of daily living (ADLs), performance augmentation or as haptic devices. In the last few decades, the research activity on these robots has grown exponentially, and sensors and actuation technologies are two fundamental research themes for their development. In this review, an in-depth study of the works related to exoskeletons and specifically to these two main aspects is carried out. A preliminary phase investigates the temporal distribution of scientific publications to capture the interest in studying and developing novel ideas, methods or solutions for exoskeleton design, actuation and sensors. The distribution of the works is also analyzed with respect to the device purpose, body part to which the device is dedicated, operation mode and design methods. Subsequently, actuation and sensing solutions for the exoskeletons described by the studies in literature are analyzed in detail, highlighting the main trends in their development and spread. The results are presented with a schematic approach, and cross analyses among taxonomies are also proposed to emphasize emerging peculiarities.
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Affiliation(s)
- Monica Tiboni
- Department of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, Italy; (M.T.); (C.A.)
| | - Alberto Borboni
- Department of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, Italy; (M.T.); (C.A.)
| | - Fabien Vérité
- Agathe Group INSERM U 1150, UMR 7222 CNRS, ISIR (Institute of Intelligent Systems and Robotics), Sorbonne Université, 75005 Paris, France;
| | - Chiara Bregoli
- Institute of Condensed Matter Chemistry and Technologies for Energy (ICMATE), National Research Council (CNR), Via Previati 1/E, 23900 Lecco, Italy;
| | - Cinzia Amici
- Department of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, Italy; (M.T.); (C.A.)
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31
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Tu Y, Zhu A, Song J, Zhang X, Cao G. Design and Experimental Evaluation of a Lower-Limb Exoskeleton for Assisting Workers With Motorized Tuning of Squat Heights. IEEE Trans Neural Syst Rehabil Eng 2022; 30:184-193. [PMID: 35030082 DOI: 10.1109/tnsre.2022.3143361] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
This paper presents the E-LEG, a novel semi-passive lower-limb exoskeleton for worker squatting assistance, with motorized tuning of the assistive squatting height. Compared with other passive industrial exoskeletons for the lower-limbs, the E-LEG presents novel design features namely inertial sensor for measuring the tilt angle of thigh and the novel electromagnetic switch for adjusting squat height. These features could enhance the effectiveness of the system. In addition to the introduction to exoskeleton design, this paper also reports the systematic experimental evaluation of human subjects. With the assistance of different conditions, the variability of muscular activity was evaluated in long-term static squatting task. The set of metrics to evaluate the effect of the device included leg muscle activity, plantar pressure fluctuation, plantar pressure center fluctuation and gait angles. Results show that the exoskeleton can reduce the muscular activity of the user during squatting, and it will have little affect the normal gait of the user during walking. In this study, we found that the E-LEG exoskeleton has potential effectiveness in reducing the muscular strain on long-term continuous squatting activities.
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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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33
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Weston EB, Alizadeh M, Hani H, Knapik GG, Souchereau RA, Marras WS. A physiological and biomechanical investigation of three passive upper-extremity exoskeletons during simulated overhead work. ERGONOMICS 2022; 65:105-117. [PMID: 34338595 DOI: 10.1080/00140139.2021.1963490] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/19/2021] [Accepted: 07/28/2021] [Indexed: 06/13/2023]
Abstract
The objective of this study was to evaluate three passive upper-extremity exoskeletons relative to a control condition. Twelve subjects performed an hour-long, simulated occupational task in a laboratory setting. Independent measures of exoskeleton, exertion height (overhead, head height), time, and their interactions were assessed. Dependent measures included changes in tissue oxygenation (ΔTSI) in the anterior deltoid and middle trapezius, peak resultant lumbar spine loading, and subjective discomfort in various body regions. A statistically significant reduction in ΔTSI between exoskeleton and control was only observed in one instance. Additionally, neither increases in spinal loading nor increases in subjective discomfort ratings were observed for any of the exoskeletons. Ultimately, the exoskeletons offered little to no physiological benefit for the conditions tested. However, the experimental task was not highly fatiguing to the subjects, denoted by low ΔTSI values across conditions. Results may vary for tasks requiring constant arm elevation or higher force demands. Practitioner summary This study quantified the benefits of upper-extremity exoskeletons using NIRS, complementary to prior studies using EMG. The exoskeletons offered little to no physiological benefit for the conditions tested. However, the experimental task was not highly fatiguing, and results may vary for an experimental task with greater demand on the shoulders. Abbreviations: WMSD: work-related musculoskeletal disorder; EMG: electromyography; NIRS: near-infrared spectroscopy; NIR: near-infrared; Hb: haemoglobin; Mb: myoglobin; TSI: tissue saturation index; ATT: adipose tissue thickness.
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Affiliation(s)
- Eric B Weston
- Spine Research Institute, The Ohio State University, Columbus, OH, USA
- Department of Integrated Systems Engineering, The Ohio State University, Columbus, OH, USA
| | - Mina Alizadeh
- Spine Research Institute, The Ohio State University, Columbus, OH, USA
- Department of Integrated Systems Engineering, The Ohio State University, Columbus, OH, USA
| | - Hamed Hani
- Spine Research Institute, The Ohio State University, Columbus, OH, USA
- Department of Integrated Systems Engineering, The Ohio State University, Columbus, OH, USA
| | - Gregory G Knapik
- Spine Research Institute, The Ohio State University, Columbus, OH, USA
- Department of Integrated Systems Engineering, The Ohio State University, Columbus, OH, USA
| | - Reid A Souchereau
- Spine Research Institute, The Ohio State University, Columbus, OH, USA
- Department of Integrated Systems Engineering, The Ohio State University, Columbus, OH, USA
| | - William S Marras
- Spine Research Institute, The Ohio State University, Columbus, OH, USA
- Department of Integrated Systems Engineering, The Ohio State University, Columbus, OH, USA
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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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35
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Nassour J, Zhao G, Grimmer M. Soft pneumatic elbow exoskeleton reduces the muscle activity, metabolic cost and fatigue during holding and carrying of loads. Sci Rep 2021; 11:12556. [PMID: 34131179 PMCID: PMC8206112 DOI: 10.1038/s41598-021-91702-5] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/19/2020] [Accepted: 05/17/2021] [Indexed: 10/26/2022] Open
Abstract
To minimize fatigue, sustain workloads, and reduce the risk of injuries, the exoskeleton Carry was developed. Carry combines a soft human-machine interface and soft pneumatic actuation to assist the elbow in load holding and carrying. We hypothesize that the assistance of Carry would decrease, muscle activity, net metabolic rate, and fatigue. With Carry providing 7.2 Nm of assistance, we found reductions of up to 50% for the muscle activity, up to 61% for the net metabolic rate, and up to 99% for fatigue in a group study of 12 individuals. Analyses of operation dynamics and autonomous use demonstrate the applicability of Carry to a variety of use cases, presumably with increased benefits for increased assistance torque. The significant benefits of Carry indicate this device could prevent systemic, aerobic, and/or possibly local muscle fatigue that may increase the risk of joint degeneration and pain due to lifting, holding, or carrying.
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Affiliation(s)
- John Nassour
- Department of Electrical and Computer Engineering, Technical University of Munich, 80333, Munich, Germany.
| | - Guoping Zhao
- Institute of Sport Science, Technical University Darmstadt, 64289, Darmstadt, Germany
| | - Martin Grimmer
- Institute of Sport Science, Technical University Darmstadt, 64289, Darmstadt, Germany.
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