1
|
Di Natali C, Poliero T, Fanti V, Sposito M, Caldwell DG. Dynamic and Static Assistive Strategies for a Tailored Occupational Back-Support Exoskeleton: Assessment on Real Tasks Carried Out by Railway Workers. Bioengineering (Basel) 2024; 11:172. [PMID: 38391658 PMCID: PMC10885892 DOI: 10.3390/bioengineering11020172] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/20/2023] [Revised: 01/26/2024] [Accepted: 01/30/2024] [Indexed: 02/24/2024] Open
Abstract
This study on occupational back-support exoskeletons performs a laboratory evaluation of realistic tasks with expert workers from the railway sector. Workers performed both a static task and a dynamic task, each involving manual material handling (MMH) and manipulating loads of 20 kg, in three conditions: without an exoskeleton, with a commercially available passive exoskeleton (Laevo v2.56), and with the StreamEXO, an active back-support exoskeleton developed by our institute. Two control strategies were defined, one for dynamic tasks and one for static tasks, with the latter determining the upper body's gravity compensation through the Model-based Gravity Compensation (MB-Grav) approach. This work presents a comparative assessment of the performance of active back support exoskeletons versus passive exoskeletons when trialled in relevant and realistic tasks. After a lab characterization of the MB-Grav strategy, the experimental assessment compared two back-support exoskeletons, one active and one passive. The results showed that while both devices were able to reduce back muscle activation, the benefits of the active device were triple those of the passive system regarding back muscle activation (26% and 33% against 9% and 11%, respectively), while the passive exoskeleton hindered trunk mobility more than the active mechanism.
Collapse
Affiliation(s)
- Christian Di Natali
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via San Quirico 19d, 16163 Genoa, Italy
| | - Tommaso Poliero
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via San Quirico 19d, 16163 Genoa, Italy
| | - Vasco Fanti
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via San Quirico 19d, 16163 Genoa, Italy
- Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), Universita' degli Studi di Genova (UniGe), 16145 Genova, Italy
| | - Matteo Sposito
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via San Quirico 19d, 16163 Genoa, Italy
| | - Darwin G Caldwell
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via San Quirico 19d, 16163 Genoa, Italy
| |
Collapse
|
2
|
Li Y, Zi B, Sun Z, Zhou B, Ding H. Implementation of cable-driven waist rehabilitation robotic system using fractional-order controller. MECHANISM AND MACHINE THEORY 2023; 190:105460. [DOI: 10.1016/j.mechmachtheory.2023.105460] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/01/2023]
|
3
|
Eken H, Lanotte F, Papapicco V, Penna MF, Gruppioni E, Trigili E, Crea S, Vitiello N. A Locomotion Mode Recognition Algorithm Using Adaptive Dynamic Movement Primitives. IEEE Trans Neural Syst Rehabil Eng 2023; 31:4318-4328. [PMID: 37883286 DOI: 10.1109/tnsre.2023.3327751] [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: 10/28/2023]
Abstract
Control systems of robotic prostheses should be designed to decode the users' intent to start, stop, or change locomotion; and to select the suitable control strategy, accordingly. This paper describes a locomotion mode recognition algorithm based on adaptive Dynamic Movement Primitive models used as locomotion templates. The models take foot-ground contact information and thigh roll angle, measured by an inertial measurement unit, for generating continuous model variables to extract features for a set of Support Vector Machines. The proposed algorithm was tested offline on data acquired from 10 intact subjects and 1 subject with transtibial amputation, in ground-level walking and stair ascending/descending activities. Following subject-specific training, results on intact subjects showed that the algorithm can classify initiatory and steady-state steps with up to 100.00% median accuracy medially at 28.45% and 27.40% of the swing phase, respectively. While the transitory steps were classified with up to 87.30% median accuracy medially at 90.54% of the swing phase. Results with data of the transtibial amputee showed that the algorithm classified initiatory, steady-state, and transitory steps with up to 92.59%, 100%, and 93.10% median accuracies medially at 19.48%, 51.47%, and 93.33% of the swing phase, respectively. The results support the feasibility of this approach in robotic prosthesis control.
Collapse
|
4
|
Ding S, Reyes FA, Bhattacharya S, Seyram O, Yu H. A Novel Passive Back-Support Exoskeleton With a Spring-Cable-Differential for Lifting Assistance. IEEE Trans Neural Syst Rehabil Eng 2023; 31:3781-3789. [PMID: 37725739 DOI: 10.1109/tnsre.2023.3317059] [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: 09/21/2023]
Abstract
Lower back injuries are the most common work-related musculoskeletal disorders. As a wearable device, a back-support exoskeleton (BSE) can reduce the risk of lower back injuries and passive BSEs can achieve a low device weight. However, with current passive BSEs, there is a problem that the user must push against the device when lifting the leg to walk, which is perceived as particularly uncomfortable due to the resistance. To solve this problem, we propose a novel passive BSE that can automatically distinguish between lifting and walking. A unique spring-cable-differential acts as a torque generator to drive both hip joints, providing adequate assistive torque during lifting and low resistance during walking. The optimization of parameters can accommodate the asymmetry of human gait. In addition, the assistive torque on both sides of the user is always the same to ensure the balance of forces. By using a cable to transmit the spring force, we placed the torque generator on the person's back to reduce the weight on the legs. To test the effectiveness of the device, we performed a series of simulated lifting tasks and walking trials. When lifting a load of 10 kg in a squatting and stooping position, the device was able to reduce the activation of the erector spinae muscles by up to 41%. No significant change in the activation of the leg and back muscles was detected during walking.
Collapse
|
5
|
Eken H, Pergolini A, Mazzarini A, Livolsi C, Fagioli I, Penna MF, Gruppioni E, Trigili E, Crea S, Vitiello N. Continuous Phase Estimation in a Variety of Locomotion Modes Using Adaptive Dynamic Movement Primitives. IEEE Int Conf Rehabil Robot 2023; 2023:1-6. [PMID: 37941254 DOI: 10.1109/icorr58425.2023.10304682] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2023]
Abstract
Accurate gait phase estimation algorithms can be used to synchronize the action of wearable robots to the volitional user movements in real time. Current-day gait phase estimation methods are designed mostly for rhythmic tasks and evaluated in highly controlled walking environments (namely, steady-state walking). Here, we implemented adaptive Dynamic Movement Primitives (aDMP) for continuous real-time phase estimation in the most common locomotion activities of daily living, which are level-ground walking, stair negotiation, and ramp negotiation. The proposed method uses the thigh roll angle and foot-contact information and was tested in real time with five subjects. The estimated phase resulted in an average root-mean-square error of 3.98% ± 1.33% and a final estimation error of 0.60% ± 0.55% with respect to the linear phase. The results of this study constitute a viable groundwork for future phase-based control strategies for lower-limb wearable robots, such as robotic prostheses or exoskeletons.
Collapse
|
6
|
Penna MF, Trigili E, Amato L, Eken H, Dell'Agnello F, Lanotte F, Gruppioni E, Vitiello N, Crea S. Decoding Upper-Limb Movement Intention Through Adaptive Dynamic Movement Primitives: A Proof-of-Concept Study with a Shoulder-Elbow Exoskeleton. IEEE Int Conf Rehabil Robot 2023; 2023:1-6. [PMID: 37941281 DOI: 10.1109/icorr58425.2023.10304723] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2023]
Abstract
This work presents an intention decoding algorithm that can be used to control a 4 degrees-of-freedom shoulder-elbow exoskeleton in reaching tasks. The algorithm was designed to assist the movement of users with upper-limb impairments who can initiate the movement by themselves. It relies on the observation of the initial part of the user's movement through joint angle measures and aims to estimate in real-time the phase of the movement and predict the goal position of the hand in the reaching task. The algorithm is based on adaptive Dynamic Movement Primitives and Gaussian Mixture Models. The performance of the algorithm was verified in robot-assisted planar reaching movements performed by one healthy subject wearing the exoskeleton. Tests included movements of different amplitudes and orientations. Results showed that the algorithm could predict the hand's final position with an error lower than 5 cm after 0.25 s from the movement onset, and that the final position reached during the tests was on average less than 4 cm far from the target position. Finally, the effects of the assistance were observed in a reduction of the activation of the Biceps Brachii and of the time to execute the reaching tasks.
Collapse
|
7
|
Xu J, Xu L, Ji A, Cao K. Learning robotic motion with mirror therapy framework for hemiparesis rehabilitation. Inf Process Manag 2023. [DOI: 10.1016/j.ipm.2022.103244] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/23/2022]
|
8
|
Yang X, Zhou P, Sun Y, Chen B, Wu H, Wang Y. Kinematic Compatible Design and Analysis of a Back Exoskeleton via a Hyper Redundant Hybrid Mechanism. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3199035] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
Affiliation(s)
- Xiaolong Yang
- School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China
| | - Pengjun Zhou
- School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China
| | - Yuxin Sun
- School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China
| | - Bai Chen
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Hongtao Wu
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Yulin Wang
- School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China
| |
Collapse
|
9
|
Poliero T, Fanti V, Sposito M, Caldwell DG, Natali CD. Active and Passive Back-Support Exoskeletons: A Comparison in Static and Dynamic Tasks. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3188439] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Tommaso Poliero
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Vasco Fanti
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Matteo Sposito
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Darwin G. Caldwell
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Christian Di Natali
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| |
Collapse
|
10
|
Poliero T, Sposito M, Toxiri S, Di Natali C, Iurato M, Sanguineti V, Caldwell DG, Ortiz J. Versatile and non-versatile occupational back-support exoskeletons: A comparison in laboratory and field studies. WEARABLE TECHNOLOGIES 2021; 2:e12. [PMID: 38486626 PMCID: PMC10936340 DOI: 10.1017/wtc.2021.9] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 02/27/2021] [Revised: 07/01/2021] [Accepted: 07/06/2021] [Indexed: 03/17/2024]
Abstract
Assistive strategies for occupational back-support exoskeletons have focused, mostly, on lifting tasks. However, in occupational scenarios, it is important to account not only for lifting but also for other activities. This can be done exploiting human activity recognition algorithms that can identify which task the user is performing and trigger the appropriate assistive strategy. We refer to this ability as exoskeleton versatility. To evaluate versatility, we propose to focus both on the ability of the device to reduce muscle activation (efficacy) and on its interaction with the user (dynamic fit). To this end, we performed an experimental study involving healthy subjects replicating the working activities of a manufacturing plant. To compare versatile and non-versatile exoskeletons, our device, XoTrunk, was controlled with two different strategies. Correspondingly, we collected muscle activity, kinematic variables and users' subjective feedbacks. Also, we evaluated the task recognition performance of the device. The results show that XoTrunk is capable of reducing muscle activation by up to in lifting and in carrying. However, the non-versatile control strategy hindered the users' natural gait (e.g., reduction of hip flexion), which could potentially lower the exoskeleton acceptance. Detecting carrying activities and adapting the control strategy, resulted in a more natural gait (e.g., increase of hip flexion). The classifier analyzed in this work, showed promising performance (online accuracy > 91%). Finally, we conducted 9 hours of field testing, involving four users. Initial subjective feedbacks on the exoskeleton versatility, are presented at the end of this work.
Collapse
Affiliation(s)
- Tommaso Poliero
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Matteo Sposito
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
- Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Politecnico di Milano, Milan, Italy
| | - Stefano Toxiri
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Christian Di Natali
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Matteo Iurato
- Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, Genova, Italy
| | - Vittorio Sanguineti
- Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, Genova, Italy
| | - Darwin G. Caldwell
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Jesús Ortiz
- Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| |
Collapse
|
11
|
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.
Collapse
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
| |
Collapse
|