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Upasani S, Srinivasan D, Zhu Q, Du J, Leonessa A. Eye-Tracking in Physical Human-Robot Interaction: Mental Workload and Performance Prediction. HUMAN FACTORS 2024; 66:2104-2119. [PMID: 37793896 DOI: 10.1177/00187208231204704] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/06/2023]
Abstract
BACKGROUND In Physical Human-Robot Interaction (pHRI), the need to learn the robot's motor-control dynamics is associated with increased cognitive load. Eye-tracking metrics can help understand the dynamics of fluctuating mental workload over the course of learning. OBJECTIVE The aim of this study was to test eye-tracking measures' sensitivity and reliability to variations in task difficulty, as well as their performance-prediction capability, in physical human-robot collaboration tasks involving an industrial robot for object comanipulation. METHODS Participants (9M, 9F) learned to coperform a virtual pick-and-place task with a bimanual robot over multiple trials. Joint stiffness of the robot was manipulated to increase motor-coordination demands. The psychometric properties of eye-tracking measures and their ability to predict performance was investigated. RESULTS Stationary Gaze Entropy and pupil diameter were the most reliable and sensitive measures of workload associated with changes in task difficulty and learning. Increased task difficulty was more likely to result in a robot-monitoring strategy. Eye-tracking measures were able to predict the occurrence of success or failure in each trial with 70% sensitivity and 71% accuracy. CONCLUSION The sensitivity and reliability of eye-tracking measures was acceptable, although values were lower than those observed in cognitive domains. Measures of gaze behaviors indicative of visual monitoring strategies were most sensitive to task difficulty manipulations, and should be explored further for the pHRI domain where motor-control and internal-model formation will likely be strong contributors to workload. APPLICATION Future collaborative robots can adapt to human cognitive state and skill-level measured using eye-tracking measures of workload and visual attention.
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Affiliation(s)
| | | | - Qi Zhu
- National Institute of Standards and Technology, Boulder, CO, USA
| | - Jing Du
- University of Florida, Gainesville, FL, USA
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Butnaru D. Aiming at the 'proper' body: How exoskeletons foster 'risky' bodies and conflicting knowledge regimes. SOCIOLOGY OF HEALTH & ILLNESS 2024; 46:1136-1151. [PMID: 38353501 DOI: 10.1111/1467-9566.13757] [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: 09/08/2022] [Accepted: 01/12/2024] [Indexed: 07/22/2024]
Abstract
Exoskeletal devices are new technologies that have been developed in the medical field to provide assistance and rehabilitation for persons with motor impairments. Among these impairments, spinal cord injury and stroke are the most common. Drawing on materials collected during multi-sited ethnography conducted in France, Germany and Switzerland from 2014 to 2019, I suggest that exoskeletons contribute to a more general process that I identify as 'aiming at the "proper" body'. As they materially craft motor impaired bodies but also are responsible for datafication and dataveillance, exoskeletons allow to categorise new aspects of 'risky' bodies. Simultaneously, they foster conflicts between experts' perspectives about rehabilitation practice and the users' phenomenological experiences that exoskeletons aim to transform. After describing how exoskeletons expand the realm of contemporary medical technologies in their purpose of 'aiming at "proper" bodies' while being 'miraculous', I identify two conceptions of 'risky' bodies: a first one related to materiality, a second one to processes of digitalisation to which exoskeletons actively participate. Finally, I investigate some conflicting levels between the regimes of expert knowledge and the phenomenological experiences of the users and reassess the latter's role in rehabilitation practice with exoskeletons.
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Affiliation(s)
- Denisa Butnaru
- Department of History and Sociology, University of Konstanz, Konstanz, Germany
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Govaerts R, De Bock S, Provyn S, Vanderborght B, Roelands B, Meeusen R, De Pauw K. The impact of an active and passive industrial back exoskeleton on functional performance. ERGONOMICS 2024; 67:597-618. [PMID: 37480301 DOI: 10.1080/00140139.2023.2236817] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/18/2023] [Accepted: 07/10/2023] [Indexed: 07/24/2023]
Abstract
Due to differences in actuation and design, active and passive industrial back exoskeletons could influence functional performance, i.e., work performance, perceived task difficulty, and discomfort, differently. Therefore, this study investigated and compared the impact of the active CrayX (7 kg) and passive Paexo Back (4.5 kg) on functional performance. Eighteen participants performed twelve work-related tasks with both types of exoskeletons and without (NoExo). The CrayX hindered work performance up to 22% in multiple tasks, compared to the Paexo Back and NoExo, while work performance between NoExo and the Paexo Back condition was more comparable, except for stair climbing (13% hindrance). Perceived task difficulty and discomfort seldomly varied between both exoskeletons. Although the CrayX shows promise to benefit workers, limitations in hindrance and comfort should first be addressed. The Paexo Back has demonstrated an advantage in certain static tasks. However, increasing its potential across a broader range of tasks seems warranted.Practitioner Summary: Differences between industrial back exoskeletons with regard to functional performance, i.e. work performance, discomfort and perceived task difficulty, were investigated by evaluating the active CrayX and passive Paexo Back back exoskeletons. The CrayX significantly hindered functional performance, while the Paexo Back seldomly affected functional performance.Abbreviations: WMSD: Work-related musculoskeletal disorder; NoExo: No Exoskeleton; GD: General discomfort; PTD: Perceived task difficulty; BMI: Body Mass Index.
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Affiliation(s)
- Renée Govaerts
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Sander De Bock
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | | | - Bram Vanderborght
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and IMEC, Brussels, Belgium
| | - Bart Roelands
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Romain Meeusen
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Kevin De Pauw
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
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Govaerts R, Turcksin T, Vanderborght B, Roelands B, Meeusen R, De Pauw K, De Bock S. Evaluating cognitive and physical work performance: A comparative study of an active and passive industrial back-support exoskeleton. WEARABLE TECHNOLOGIES 2023; 4:e27. [PMID: 38487761 PMCID: PMC10936324 DOI: 10.1017/wtc.2023.25] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/22/2023] [Revised: 10/25/2023] [Accepted: 11/23/2023] [Indexed: 03/17/2024]
Abstract
Occupational back-support exoskeletons, categorized as active or passive, hold promise for mitigating work-related musculoskeletal disorders. However, their impact on combined physical and cognitive aspects of industrial work performance remains inadequately understood, especially regarding potential differences between exoskeleton categories. A randomized, counterbalanced cross-over study was conducted, comparing the active CrayX, passive Paexo Back, and a no exoskeleton condition. A 15-min dual task was used to simulate both cognitive and physical aspects of industrial work performance. Cognitive workload parameters included reaction time, accuracy, and subjective measures. Physical workload included movement duration, segmented in three phases: (1) walking to and grabbing the box, (2) picking up, carrying, and putting down the box, and (3) returning to the starting point. Comfort of both devices was also surveyed. The Paexo significantly increased movement duration in the first segment compared to NoExo (Paexo = 1.55 ± 0.19 s; NoExo = 1.32 ± 0.17 s; p < .01). Moreover, both the Paexo and CrayX increased movement duration for the third segment compared to NoExo (CrayX = 1.70 ± 0.27 s; Paexo = 1.74 ± 0.27 s, NoExo = 1.54 ± 0.23 s; p < .01). No significant impact on cognitive outcomes was observed. Movement Time 2 was not significantly affected by both exoskeletons. Results of the first movement segment suggest the Paexo may hinder trunk bending, favoring the active device for dynamic movements. Both devices may have contributed to a higher workload as the movement duration in the third segment increased compared to NoExo.
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Affiliation(s)
- Renée Govaerts
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Tom Turcksin
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Flanders Make AugmentX, Brussels, Belgium
| | - Bram Vanderborght
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and IMEC, Brussels, Belgium
| | - Bart Roelands
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Romain Meeusen
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Kevin De Pauw
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Sander De Bock
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
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Hybart R, Ferris D. Gait variability of outdoor vs treadmill walking with bilateral robotic ankle exoskeletons under proportional myoelectric control. PLoS One 2023; 18:e0294241. [PMID: 37956157 PMCID: PMC10642814 DOI: 10.1371/journal.pone.0294241] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/16/2023] [Accepted: 10/27/2023] [Indexed: 11/15/2023] Open
Abstract
Lower limb robotic exoskeletons are often studied in the context of steady-state treadmill walking in laboratory environments. However, the end goal of these devices is often adoption into our everyday lives. To move outside of the laboratory, there is a need to study exoskeletons in real world, complex environments. One way to study the human-machine interaction is to look at how the exoskeleton affects the user's gait. In this study we assessed changes in gait spatiotemporal variability when using a robotic ankle exoskeleton under proportional myoelectric control both inside on a treadmill and outside overground. We hypothesized that walking with the exoskeletons would not lead to significant changes in variability inside on a treadmill or outside compared to not using the exoskeletons. In addition, we hypothesized that walking outside would lead to higher variability both with and without the exoskeletons compared to treadmill walking. In support of our hypothesis, we found significantly higher coefficients of variation of stride length, stance time, and swing time when walking outside both with and without the exoskeleton. We found a significantly higher variability when using the exoskeletons inside on the treadmill, but we did not see significantly higher variability when walking outside overground. The value of this study to the literature is that it emphasizes the importance of studying exoskeletons in the environment in which they are meant to be used. By looking at only indoor gait spatiotemporal measures, we may have assumed that the exoskeletons led to higher variability which may be unsafe for certain target populations. In the context of the literature, we show that variability due to robotic ankle exoskeletons under proportional myoelectric control does not elicit different changes in stride time variability than previously found in other daily living tasks (uneven terrain, load carriage, or cognitive tasks).
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Affiliation(s)
- Rachel Hybart
- J. Crayton Pruitt Department of Biomedical Engineering, University of Florida, Gainesville, Florida, United States of America
| | - Daniel Ferris
- J. Crayton Pruitt Department of Biomedical Engineering, University of Florida, Gainesville, Florida, United States of America
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Wilkenfeld JN, Kim S, Upasani S, Kirkwood GL, Dunbar NE, Srinivasan D. Sensemaking, adaptation and agency in human-exoskeleton synchrony. Front Robot AI 2023; 10:1207052. [PMID: 37901167 PMCID: PMC10602643 DOI: 10.3389/frobt.2023.1207052] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/17/2023] [Accepted: 09/25/2023] [Indexed: 10/31/2023] Open
Abstract
Introduction: Wearable I robots such as exoskeletons combine the strength and precision of intelligent machines with the adaptability and creativity of human beings. Exoskeletons are unique in that humans interact with the technologies on both a physical and cognitive level, and as such, involve a complex, interdependent relationship between humans and robots. The aim of this paper was to explore the concepts of agency and adaptation as they relate to human-machine synchrony, as human users learned to operate a complex whole-body powered exoskeleton. Methods: Qualitative interviews were conducted with participants over multiple sessions in which they performed a range of basic functional tasks and simulated industrial tasks using a powered exoskeleton prototype, to understand their expectations of the human-technology partnership, any challenges that arose in their interaction with the device, and what strategies they used to resolve such challenges. Results: Analysis of the data revealed two overarching themes: 1) Participants faced physical, cognitive, and affective challenges to synchronizing with the exoskeleton; and 2) they engaged in sensemaking strategies such as drawing analogies with known prior experiences and anthropomorphized the exoskeleton as a partner entity in order to adapt and address challenges. Discussion: This research is an important first step to understanding how humans make sense of and adapt to a powerful and complex wearable robot with which they must synchronize in order to perform tasks. Implications for our understanding of human and machine agency as well as bidirectional coadaptation principles are discussed.
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Affiliation(s)
- J. Nan Wilkenfeld
- Department of Communication, University of California, Santa Barbara, Santa Barbara, CA, United States
| | - Sunwook Kim
- Industrial and Systems Engineering Department, Virginia Tech, Blacksburg, VA, United States
| | - Satyajit Upasani
- Industrial and Systems Engineering Department, Virginia Tech, Blacksburg, VA, United States
| | - Gavin Lawrence Kirkwood
- Department of Communication, University of California, Santa Barbara, Santa Barbara, CA, United States
| | - Norah E. Dunbar
- Department of Communication, University of California, Santa Barbara, Santa Barbara, CA, United States
| | - Divya Srinivasan
- Department of BioEngineering, Clemson University, Clemson, SC, United States
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Hybart RL, Ferris DP. Neuromechanical Adaptation to Walking With Electromechanical Ankle Exoskeletons Under Proportional Myoelectric Control. IEEE OPEN JOURNAL OF ENGINEERING IN MEDICINE AND BIOLOGY 2023; 4:119-128. [PMID: 38274783 PMCID: PMC10810305 DOI: 10.1109/ojemb.2023.3288469] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/08/2023] [Revised: 05/17/2023] [Accepted: 06/19/2023] [Indexed: 01/27/2024] Open
Abstract
OBJECTIVE To determine if robotic ankle exoskeleton users decrease triceps surae muscle activity when using proportional myoelectric control, we studied healthy young participants walking with commercially available electromechanical ankle exoskeletons (Dephy Exoboot) with a novel controller. The vast majority of robotic lower limb exoskeletons do not have direct neural input from the user which makes adaptation of exoskeleton dynamics based on user intent difficult. Proportional myoelectric control has proven to allow considerable adaptation in muscle activation and gait kinematics in pneumatic, tethered ankle exoskeletons. In this study we quantified the changes in muscle activity and joint biomechanics of twelve participants walking for 30 minutes on a treadmill. RESULTS The exoskeletons provided 29% of the peak total ankle power and 18% of the peak total ankle moment by the end of the practice session. There was a decrease of 12% in soleus, 17% in lateral gastrocnemius and 5% in medial gastrocnemius electromyography (EMG) root mean square (root mean squared) after walking with the exoskeleton for 30 minutes compared to not wearing the exoskeleton, but this difference was not statistically significant. There were no differences in joint biomechanics of the ankle, hip, or knee between the end of training compared to walking without the exoskeletons. CONCLUSIONS Contrary to expectations, triceps surae muscle activity showed only small non-significant decreases in 30 minutes of walking with portable, electromechanical ankle exoskeletons under proportional myoelectric control. The commercially available ankle exoskeletons were likely too weak to produce a statistically meaningful decline in triceps surae recruitment. Future research should include a wider variety of tasks, including measurements of metabolic energy expenditure, and provide a longer period of adaptation to evaluate the ankle exoskeletons.
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Affiliation(s)
- Rachel L. Hybart
- J. Crayton Pruitt Department of Biomedical EngineeringUniversity of FloridaGainesvilleFL32611USA
| | - Daniel P. Ferris
- J. Crayton Pruitt Department of Biomedical EngineeringUniversity of FloridaGainesvilleFL32611USA
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Johnson WB, Young A, Goldman S, Wilson J, Alderete JF, Childers WL. Exoskeletal solutions to enable mobility with a lower leg fracture in austere environments. WEARABLE TECHNOLOGIES 2023; 4:e5. [PMID: 38487779 PMCID: PMC10936379 DOI: 10.1017/wtc.2022.26] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 06/13/2022] [Revised: 09/12/2022] [Accepted: 10/12/2022] [Indexed: 03/17/2024]
Abstract
The treatment and evacuation of people with lower limb fractures in austere environments presents unique challenges that assistive exoskeletal devices could address. In these dangerous situations, independent mobility for the injured can preserve their vital capabilities so that they can safely evacuate and minimize the need for additional personnel to help. This expert view article discusses how different exoskeleton archetypes could provide independent mobility while satisfying the requisite needs for portability, maintainability, durability, and adaptability to be available and useful within austere environments. The authors also discuss areas of development that would enable exoskeletons to operate more effectively in these scenarios as well as preserve the health of the injured limb so that definitive treatment after evacuation will produce better outcomes.
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Affiliation(s)
- W. Brett Johnson
- Research and Surveillance Division, Extremity Trauma and Amputation Center for Excellence, San Antonia, TX78234, USA
- Center for the Intrepid, Brooke Army Medical Center, San Antonia, TX78219, USA
| | - Aaron Young
- School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA30332, USA
| | - Stephen Goldman
- Research and Surveillance Division, Extremity Trauma and Amputation Center for Excellence, San Antonia, TX78234, USA
- Uniformed Services University of the Health Sciences, Bethesda, MD20814, USA
| | - Jon Wilson
- Alabama College of Osteopathic Medicine, Dothan, AL36303, USA
| | | | - W. Lee Childers
- Research and Surveillance Division, Extremity Trauma and Amputation Center for Excellence, San Antonia, TX78234, USA
- Center for the Intrepid, Brooke Army Medical Center, San Antonia, TX78219, USA
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Armstrong NC, Smith SJR, Risius D, Doyle D, Wardle SL, Greeves JP, House JR, Tipton M, Lomax M. Cognitive performance of military men and women during prolonged load carriage. BMJ Mil Health 2023; 169:37-45. [PMID: 35393357 PMCID: PMC9887367 DOI: 10.1136/bmjmilitary-2021-002000] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/14/2021] [Accepted: 01/16/2022] [Indexed: 02/03/2023]
Abstract
BACKGROUND This study evaluated cognitive workload in soldiers undertaking a long duration march wearing different loads. METHODS Military participants (n=12 men and n=10 women) performed four 3-hour loaded marches (12.25 km at 4.9 km/hour) wearing either 21 kg, 26 kg, 33 kg or 43 kg. During the march, accuracy and response time were measured using the verbal working memory n-back test (0, 1, 2 and 3) and two bespoke Go/No Go tests (visual/auditory) to assess inhibition of a pre-potent response. RESULTS The physical demands of the march increased with load and march duration but remained at moderate intensity. N-back test accuracy ranged from 74% to 98% in men and 62% to 98% in women. Reduced accuracy was observed as load and time increased. Accuracy during the visual Go/No Go test also reduced with load, accuracy ranged from 69% to 89% in men and 65% to 90% in women. No differences due to load or time were observed during completion of the auditory Go/No Go task; accuracy ranged from 93% to 97% in men and 77% to 95% in women. A number of participants were unable to complete the march due to discomfort. Reports of discomfort were more frequent in women, which may have contributed to the greater reductions in accuracy observed. CONCLUSION These data provide further evidence that cognitive performance of military personnel can be affected during long duration loaded marching. Women reported discomfort from equipment more frequently than men, which may make them more susceptible to declines in cognitive performance. These findings highlight important considerations for equipment procurement.
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Affiliation(s)
- Nicola C Armstrong
- Human Sciences Group, Defence Science and Technology Laboratory, Salisbury, UK,School of Sport, Health and Exercise Science, University of Portsmouth, Portsmouth, UK
| | - S J R Smith
- Human Sciences Group, Defence Science and Technology Laboratory, Fareham, UK
| | - D Risius
- Human Sciences Group, Defence Science and Technology Laboratory, Salisbury, UK
| | - D Doyle
- Human Sciences Group, Defence Science and Technology Laboratory, Salisbury, UK
| | - S L Wardle
- Department of Army Health and Physical Performance Research, UK Ministry of Defence, Andover, UK
| | - J P Greeves
- Department of Army Health and Physical Performance Research, UK Ministry of Defence, Andover, UK,Faculty of Medicine and Health Science, University of East Anglia Norwich Medical School, Norwich, UK,Division of Surgery and Interventional Science, University College London, London, Unitied Kingdom
| | - J R House
- School of Sport, Health and Exercise Science, University of Portsmouth, Portsmouth, UK
| | - M Tipton
- School of Sport, Health and Exercise Science, University of Portsmouth, Portsmouth, UK
| | - M Lomax
- School of Sport, Health and Exercise Science, University of Portsmouth, Portsmouth, UK
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Hybart RL, Ferris DP. Embodiment for Robotic Lower-Limb Exoskeletons: A Narrative Review. IEEE Trans Neural Syst Rehabil Eng 2022; PP:10.1109/TNSRE.2022.3229563. [PMID: 37015690 PMCID: PMC10267288 DOI: 10.1109/tnsre.2022.3229563] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/23/2022]
Abstract
Research on embodiment of objects external to the human body has revealed important information about how the human nervous system interacts with robotic lower limb exoskeletons. Typical robotic exoskeleton control approaches view the controllers as an external agent intending to move in coordination with the human. However, principles of embodiment suggest that the exoskeleton controller should ideally coordinate with the human such that the nervous system can adequately model the input-output dynamics of the exoskeleton controller. Measuring embodiment of exoskeletons should be a necessary step in the exoskeleton development and prototyping process. Researchers need to establish high fidelity quantitative measures of embodiment, rather than relying on current qualitative survey measures. Mobile brain imaging techniques, such as high-density electroencephalography, is likely to provide a deeper understanding of embodiment during human-machine interactions and advance exoskeleton research and development. In this review we show why future exoskeleton research should include quantitative measures of embodiment as a metric of success.
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Brisbine BR, Radcliffe CR, Jones MLH, Stirling L, Coltman CE. Does the fit of personal protective equipment affect functional performance? A systematic review across occupational domains. PLoS One 2022; 17:e0278174. [PMID: 36449531 PMCID: PMC9710848 DOI: 10.1371/journal.pone.0278174] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/03/2022] [Accepted: 11/11/2022] [Indexed: 12/02/2022] Open
Abstract
OBJECTIVE To explore the effect of personal protective equipment (PPE) fit on functional performance across a range of occupational domains. BACKGROUND PPE introduces an ergonomic, human systems integration, and mass burden to the wearer, and these factors are thought to be amplified if PPE is ill-fitting. However, few studies have considered the role of fit (static, dynamic, and cognitive) when evaluating PPE-related performance detriments in occupational settings. METHOD A systematic literature review was conducted to identify relevant studies, which were then critically appraised based on methodological quality and collated to compare key findings and present evidence-based recommendations for future research directions across a range of occupational domains. RESULTS 16 published studies met the inclusion criteria, 88% of which found that the fit of PPE had a statistically significant effect on occupational performance. Poorly sized PPE resulted in slower or increased reaction time; decreased range of motion or mobility; decreased endurance or tolerance; decreased pulmonary function; and altered muscle activation. Limited research met the inclusion criteria and those that did had risks of bias in methodology quality. CONCLUSION Future research evaluating the effect of PPE on performance in occupational settings should aim to recruit a more representative population; consider sex as a covariate; quantify and evaluate PPE fit and performance when integrated with all relevant equipment items; include outcome measures related to all three categories of fit (static, dynamic, cognitive); and assess performance of operationally relevant tasks.
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Affiliation(s)
- Brooke R. Brisbine
- University of Canberra Research Institute for Sport and Exercise, Faculty of Health, University of Canberra, Canberra, ACT, Australia
| | - Ceridwen R. Radcliffe
- University of Canberra Research Institute for Sport and Exercise, Faculty of Health, University of Canberra, Canberra, ACT, Australia
| | - Monica L. H. Jones
- University of Michigan Transportation Research Institute, University of Michigan, Ann Arbor, MI, United States of America
| | - Leia Stirling
- Industrial and Operations Engineering Department, Robotics Institute, University of Michigan, Ann Arbor, MI, United States of America
| | - Celeste E. Coltman
- University of Canberra Research Institute for Sport and Exercise, Faculty of Health, University of Canberra, Canberra, ACT, Australia
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Slade P, Kochenderfer MJ, Delp SL, Collins SH. Personalizing exoskeleton assistance while walking in the real world. Nature 2022; 610:277-282. [PMID: 36224415 PMCID: PMC9556303 DOI: 10.1038/s41586-022-05191-1] [Citation(s) in RCA: 47] [Impact Index Per Article: 23.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/23/2022] [Accepted: 08/04/2022] [Indexed: 11/12/2022]
Abstract
Personalized exoskeleton assistance provides users with the largest improvements in walking speed1 and energy economy2-4 but requires lengthy tests under unnatural laboratory conditions. Here we show that exoskeleton optimization can be performed rapidly and under real-world conditions. We designed a portable ankle exoskeleton based on insights from tests with a versatile laboratory testbed. We developed a data-driven method for optimizing exoskeleton assistance outdoors using wearable sensors and found that it was equally effective as laboratory methods, but identified optimal parameters four times faster. We performed real-world optimization using data collected during many short bouts of walking at varying speeds. Assistance optimized during one hour of naturalistic walking in a public setting increased self-selected speed by 9 ± 4% and reduced the energy used to travel a given distance by 17 ± 5% compared with normal shoes. This assistance reduced metabolic energy consumption by 23 ± 8% when participants walked on a treadmill at a standard speed of 1.5 m s-1. Human movements encode information that can be used to personalize assistive devices and enhance performance.
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Affiliation(s)
- Patrick Slade
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
- Department of Bioengineering, Stanford University, Stanford, CA, USA
| | - Mykel J Kochenderfer
- Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA
| | - Scott L Delp
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
- Department of Bioengineering, Stanford University, Stanford, CA, USA
| | - Steven H Collins
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA.
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Yuan J, Bai X, Driscoll B, Liu M, Huang H, Feng J. Standing and Walking Attention Visual Field (SWAVF) task: A new method to assess visuospatial attention during walking. APPLIED ERGONOMICS 2022; 104:103804. [PMID: 35635940 DOI: 10.1016/j.apergo.2022.103804] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/01/2021] [Revised: 05/13/2022] [Accepted: 05/14/2022] [Indexed: 06/15/2023]
Abstract
Visuospatial attention during walking has been associated with pedestrian safety and fall risks. However, visuospatial attention measures during walking remained under-explored. Current studies introduced a newly-developed Standing and Walking Visual Attention Field (SWAVF) task to assess visuospatial attention during walking and examined its reliability, validity, and stability. Thirty young adults completed a traditional computerized Attention Visual Field (AVF) task while sitting, and the SWAVF task under walking and standing settings. Nine participants also performed the SWAVF task under additional distraction conditions. Results showed good split-half reliability during standing (r = 0.70) and walking (r = 0.69), moderate concurrent validity with the sitting AVF task (r = 0.42), moderate convergent validity between the standing and walking settings (r = 0.69), good construct validity, and moderate rank-order stability (r = 0.53). Overall, the SWAVF task showed good psychometric properties. Potential applications to the evaluation of prosthetic and other exoskeleton devices, smart glasses, and ground-level traffic lights or signs were discussed.
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Affiliation(s)
- Jing Yuan
- Department of Psychology, North Carolina State University, NC, USA.
| | - Xiaolu Bai
- Department of Psychology, North Carolina State University, NC, USA.
| | - Brendan Driscoll
- Joint Department of Biomedical Engineering, North Carolina State University, University of North Carolina - Chapel Hill, NC, USA.
| | - Ming Liu
- Joint Department of Biomedical Engineering, North Carolina State University, University of North Carolina - Chapel Hill, NC, USA.
| | - He Huang
- Joint Department of Biomedical Engineering, North Carolina State University, University of North Carolina - Chapel Hill, NC, USA.
| | - Jing Feng
- Department of Psychology, North Carolina State University, NC, USA.
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Boppana A, Priddy ST, Stirling L, Anderson AP. Challenges in Quantifying Heel-Lift During Spacesuit Gait. Aerosp Med Hum Perform 2022; 93:643-648. [DOI: 10.3357/amhp.5961.2022] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/24/2022]
Abstract
INTRODUCTION: Heel-lift is a subjectively reported fit issue in planetary spacesuit boot prototypes that has not yet been quantified. Inertial measurement units (IMUs) could quantify heel-lift but are susceptible to integration drift. This work evaluates the use of IMUs and drift-correction
algorithms, such as zero-velocity (ZVUs) and zero-position updates (ZPUs), to quantify heel-lift during spacesuited gait.METHODS: Data was originally collected by Fineman et al. in 2018 to assess lower body relative coordination in the spacesuit. IMUs were mounted on the spacesuit
lower legs (SLLs) and spacesuit operator’s shank as three operators walked on a level walkway in three spacesuit padding conditions. Discrete wavelet transforms were used to identify foot-flat phase and heel-off for each step. Differences in heel-off timepoints were calculated in each
step as a potential indicator of heel-lift, with spacesuit-delayed heel-off suggesting heel-lift. Average drift rates were estimated prior to and after applying ZVUs and ZPUs.RESULTS: Heel-off timepoint differences showed instances of spacesuit-delayed heel-off and instances of
operator-delayed heel-off. Drift rates after applying ZVUs and ZPUs suggested an upper time bound of 0.03 s past heel-off to measure heel-lift magnitude with an accuracy of 1 cm.DISCUSSION: Results suggest that IMUs may not be appropriate for quantifying the presence and magnitude
of heel lift. Operator-delayed heel-off suggests that the SLL may be expanding prior to heel-off, creating a false vertical acceleration signal interpreted by this study to be spacesuit heel-off. Quantifying heel-off will therefore require improvements in IMU mounting to mitigate the effects
of SLL, or alternative sensor technologies.Boppana A, Priddy ST, Stirling L, Anderson AP. Challenges in quantifying heel-lift during spacesuit gait. Aerosp Med Hum Perform. 2022; 93(8):643–648.
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15
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Zheng L, Hawke AL, Evans K. Critical review on applications and roles of exoskeletons in patient handling. INTERNATIONAL JOURNAL OF INDUSTRIAL ERGONOMICS 2022; 89:10.1016/j.ergon.2022.103290. [PMID: 35924209 PMCID: PMC9345507 DOI: 10.1016/j.ergon.2022.103290] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/12/2023]
Abstract
Musculoskeletal Disorders (MSDs) remain a major concern for workers in the healthcare industry. Healthcare workers are at high risk of work-related MSDs mainly caused by overexertion from manually handling patients. Exoskeletons may be a useful tool to help reduce the risk of MSDs during patient handling. As a review study, we surveyed articles focusing on applying exoskeletons to patient handling tasks specifically. We also reviewed relevant government databases and other studies related to Safe Patient Handling and Mobility (SPHM) programs and exoskeleton applications in general. The exoskeletons specifically designed for patient handling were found to be sparse. To have a better understanding of the needs and challenges of developing and using exoskeletons for reducing risks of work-related MSDs in healthcare workers during patient handling, this critical review (1) provided an overview of the existing issues and projected future burdens related to work-related MSDs during patient handling tasks, (2) recognized current and potential roles and applications of existing exoskeletons, and (3) identified challenges and needs for future exoskeleton products. In conclusion, we do not expect exoskeletons to replace the existing SPHM programs, but rather play a complementary role to these multi-pronged programs. We expect that emerging exoskeleton products can be introduced to uncontrolled or specialized healthcare environments. There are various expectations and requirements for an exoskeleton used in different healthcare settings. Additionally, introducing certain types of exoskeletons for patients to assist them during treatment and rehabilitation may help reduce the MSD risks to the healthcare workers.
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Affiliation(s)
- Liying Zheng
- Health Effects Laboratory Division, National Institute for
Occupational Safety and Health, Morgantown, WV, USA
- Corresponding author.
(L. Zheng)
| | - Ashley L. Hawke
- Health Effects Laboratory Division, National Institute for
Occupational Safety and Health, Morgantown, WV, USA
| | - Kimeran Evans
- Division of Physical Therapy, School of Medicine, West
Virginia University, Morgantown, WV, USA
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16
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Coltman CE, Brisbine BR, Molloy RH, Steele JR. Effect of Torso and Breast Characteristics on the Perceived Fit of Body Armour Systems Among Female Soldiers: Implications for Body Armour Sizing and Design. Front Sports Act Living 2022; 4:821210. [PMID: 35356093 PMCID: PMC8959632 DOI: 10.3389/fspor.2022.821210] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/24/2021] [Accepted: 02/01/2022] [Indexed: 11/13/2022] Open
Abstract
This study aimed to provide normative data characterising the torsos and breasts of female soldiers and to determine which torso and breast anthropometric measurements contributed to reports of poor body armour fit. Ninety-seven female Australian Army soldiers completed a questionnaire about their experience with current-issue body armour, including perceptions of fit. Participants also attended a single testing session where we took a three-dimensional scan of their breasts and torso and collected several anthropometric measurements to characterise their torso size and shape. Sixteen of the 22 breast and torso measurements collected were significantly related to the perceived fit of current-issue body armour systems. To improve perceptions of fit for female soldiers and, in turn, reduce movement interference, discomfort, and barriers to occupational performance, future body armour systems should cater to the wide range of female breast and torso shapes and sizes.
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Affiliation(s)
- Celeste E. Coltman
- Faculty of Health, University of Canberra Research Institute for Sport and Exercise, University of Canberra, Canberra, ACT, Australia
- *Correspondence: Celeste E. Coltman
| | - Brooke R. Brisbine
- Faculty of Health, University of Canberra Research Institute for Sport and Exercise, University of Canberra, Canberra, ACT, Australia
| | - Richard H. Molloy
- Human Systems Integration, Land Division, Defence Science and Technology Group, Department of Defence, Melbourne, VIC, Australia
| | - Julie R. Steele
- Biomechanics Research Laboratory, University of Wollongong, NSW, Australia
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17
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McFarland TC, McDonald AC, Whittaker RL, Callaghan JP, Dickerson CR. Level of exoskeleton support influences shoulder elevation, external rotation and forearm pronation during simulated work tasks in females. APPLIED ERGONOMICS 2022; 98:103591. [PMID: 34628044 DOI: 10.1016/j.apergo.2021.103591] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/01/2020] [Revised: 09/14/2021] [Accepted: 09/17/2021] [Indexed: 06/13/2023]
Abstract
Despite growing literature, limited research details the influence of passive upper limb exoskeletons on upper limb kinematics. Two bolting tasks and a tracing task were completed at two heights (overhead and between waist and overhead height) for four exoskeleton conditions (no exoskeleton, and 3 levels of exoskeleton assistance) by female participants. Motion capture data, ratings of perceived exertion and discomfort, and task duration were recorded. Exoskeleton condition increased minimum shoulder elevation by 35-36% (Δ10.5-10.7°) at 1.81 kg and 2.72 kg of support, mean shoulder external rotation by 316% (Δ24.6°) at 0.91 kg of support and mean forearm pronation by 30.9% (Δ14.6°) at 0.91 kg of support. Exoskeleton condition reduced ratings of perceived exertion and discomfort, but not significantly. Task duration was unaffected. Exoskeleton use at any of three different settings modestly affected some joint kinematics for the tasks examined, which may merit consideration when deciding on occupational exoskeleton implementation.
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Affiliation(s)
- Tasha C McFarland
- Department of Kinesiology, Faculty of Applied Health Sciences, University of Waterloo, 200 University Avenue West, Waterloo, Ontario, N2L 3G1, Canada
| | - Alison C McDonald
- Department of Kinesiology, Faculty of Applied Health Sciences, University of Waterloo, 200 University Avenue West, Waterloo, Ontario, N2L 3G1, Canada
| | - Rachel L Whittaker
- Department of Kinesiology, Faculty of Applied Health Sciences, University of Waterloo, 200 University Avenue West, Waterloo, Ontario, N2L 3G1, Canada
| | - Jack P Callaghan
- Department of Kinesiology, Faculty of Applied Health Sciences, University of Waterloo, 200 University Avenue West, Waterloo, Ontario, N2L 3G1, Canada
| | - Clark R Dickerson
- Department of Kinesiology, Faculty of Applied Health Sciences, University of Waterloo, 200 University Avenue West, Waterloo, Ontario, N2L 3G1, Canada.
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18
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Acosta-Sojo Y, Stirling L. Individuals differ in muscle activation patterns during early adaptation to a powered ankle exoskeleton. APPLIED ERGONOMICS 2022; 98:103593. [PMID: 34600306 DOI: 10.1016/j.apergo.2021.103593] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/20/2021] [Revised: 08/03/2021] [Accepted: 09/20/2021] [Indexed: 06/13/2023]
Abstract
Exoskeletons have the potential to assist users and augment physical ability. To achieve these goals across users, individual variation in muscle activation patterns when using an exoskeleton need to be evaluated. This study examined individual muscle activation patterns during walking with a powered ankle exoskeleton. 60% of the participants were observed to reduce medial gastrocnemius activation with exoskeleton powered and increase with the exoskeleton unpowered during stance. 80% of the participants showed a significant increase in tibialis anterior activation upon power addition, with inconsistent changes upon power removal during swing. 60% of the participants that were able to adapt to the system, did not de-adapt after 5 min. Muscle activity patterns differ between individuals in response to the exoskeleton power state, and affected the antagonist muscle behavior during this early adaptation. It is important to understand these different individual behaviors to inform the design of exoskeleton controllers and training protocols.
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Affiliation(s)
- Yadrianna Acosta-Sojo
- Industrial and Operations Engineering, University of Michigan, Ann Arbor, MI, 48109, USA.
| | - Leia Stirling
- Industrial and Operations Engineering, University of Michigan, Ann Arbor, MI, 48109, USA; Robotics Institute, University of Michigan, Ann Arbor, MI, 48109, USA
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19
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Park H, Kim S, Nussbaum MA, Srinivasan D. Effects of using a whole-body powered exoskeleton during simulated occupational load-handling tasks: A pilot study. APPLIED ERGONOMICS 2022; 98:103589. [PMID: 34563748 DOI: 10.1016/j.apergo.2021.103589] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/10/2020] [Revised: 09/10/2021] [Accepted: 09/13/2021] [Indexed: 06/13/2023]
Abstract
Whole-body powered exoskeletons (WB-PEXOs) can be effective in reducing the physical demands of heavy occupational work, yet almost no empirical evidence exists on the effects of WB-PEXO use. This study assessed the effects of WB-PEXO use on back and leg muscle activities during lab-based simulations of load handling tasks. Six participants (4M, 2F) completed two such tasks (load carriage and stationary load transfer), both with and without a WB-PEXO, and with a range of load masses in each task. WB-PEXO use reduced median levels of muscle activity in the back (∼42-53% in thoracic and ∼24-43% in lumbar regions) and legs (∼41-63% in knee flexors and extensors), and mainly when handling loads beyond low-moderate levels (10-15 kg). Overall, using the WB-PEXO also reduced inter-individual variance (smaller SD) in muscle activities. Future work should examine diverse users, focus on finding effective matches between WB-PEXO use and specific tasks, and identify applications in varied work environments.
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Affiliation(s)
- Hanjun Park
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, USA
| | - Sunwook Kim
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, USA
| | - Maury A Nussbaum
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, USA
| | - Divya Srinivasan
- Department of Industrial Engineering, Clemson University, Clemson, SC, USA.
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20
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Elstub LJ, Fine SJ, Zelik KE. Exoskeletons and Exosuits Could Benefit from Mode-Switching Body Interfaces That Loosen/Tighten to Improve Thermal Comfort. INTERNATIONAL JOURNAL OF ENVIRONMENTAL RESEARCH AND PUBLIC HEALTH 2021; 18:13115. [PMID: 34948723 PMCID: PMC8701000 DOI: 10.3390/ijerph182413115] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/04/2021] [Revised: 12/08/2021] [Accepted: 12/09/2021] [Indexed: 11/16/2022]
Abstract
Exoskeletons and exosuits (exos) are wearable devices that physically assist movement. User comfort is critically important for societal adoption of exos. Thermal comfort (a person's satisfaction with their thermal environment) represents a key design challenge. Exos must physically attach/interface to the body to apply forces, and these interfaces inevitably trap some heat. It is envisioned that thermal comfort could be improved by designing mode-switching exo interfaces that temporarily loosen around a body segment when assistive forces are not being applied. To inform exo design, a case series study (N = 4) based on single-subject design principles was performed. Our objective was to assess individual responses to skin temperature and thermal comfort during physical activity with a Loose leg-sleeve interface compared with a Form-Fitting one, and immediately after a Form-Fitting sleeve switched to Loose. Skin under the Loose sleeve was 2-3 °C (4-6 °F) cooler after 25 min of physical activity, and two of four participants reported the Loose sleeve improved their thermal comfort. After completion of the physical activity, the Form-Fitting sleeve was loosened, causing a 2-4 °C (3-8 °F) drop in skin temperature underneath for all participants, and two participants to report slightly improved thermal comfort. These findings confirmed that an exo that can quickly loosen its interface when assistance is not required-and re-tighten when it is- has the potential to enhance thermal comfort for some individuals and environments. More broadly, this study demonstrates that mode-switching mechanisms in exos can do more than adjust physical assistance: they can also exploit thermodynamics and facilitate thermoregulation in a way that enhances comfort for exo users.
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Affiliation(s)
- Laura J. Elstub
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212, USA; (S.J.F.); (K.E.Z.)
| | - Shimra J. Fine
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212, USA; (S.J.F.); (K.E.Z.)
| | - Karl E. Zelik
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212, USA; (S.J.F.); (K.E.Z.)
- Department of Biomedical Engineering, Vanderbilt University, Nashville, TN 37212, USA
- Department of Physical Medicine & Rehabilitation, Vanderbilt University, Nashville, TN 37212, USA
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21
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Zhu Y, Weston EB, Mehta RK, Marras WS. Neural and biomechanical tradeoffs associated with human-exoskeleton interactions. APPLIED ERGONOMICS 2021; 96:103494. [PMID: 34126572 DOI: 10.1016/j.apergo.2021.103494] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/20/2021] [Revised: 05/30/2021] [Accepted: 06/01/2021] [Indexed: 06/12/2023]
Abstract
Industrial passive low-back exoskeletons have gained recent attention as ergonomic interventions to manual handling tasks. This research utilized a two-armed experimental approach (single vs dual-task paradigms) to quantify neural and biomechanical tradeoffs associated with short-term human-exoskeleton interaction (HEI) during asymmetrical lifting in twelve healthy adults balanced by gender. A dynamic, electromyography-assisted spine model was employed that indicated statistical, but marginal, biomechanical benefits of the tested exoskeleton, which diminished with the introduction of the cognitive dual-task. Using Near Infrared Spectroscopy (fNIRS)-based brain connectivity analyses, we found that the tested exoskeleton imposed greater neurocognitive and motor adaptation efforts by engaging action monitoring and error processing brain networks. Collectively, these findings indicate that a wearer's biomechanical response to increased cognitive demands in the workplace may offset the mechanical advantages of exoskeletons. We also demonstrate the utility of ambulatory fNIRS to capture the neural cost of HEI without the need for elaborate dual-task manipulations.
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Affiliation(s)
- Yibo Zhu
- Wm. Michael Barnes '64 Department of Industrial & Systems Engineering, Texas A&M University, College Station, TX, 77840, USA
| | - Eric B Weston
- Department of Integrated Systems Engineering, The Ohio State University, Columbus, OH, 43210, USA; Spine Research Institute, The Ohio State University, Columbus, OH, 43210, USA
| | - Ranjana K Mehta
- Wm. Michael Barnes '64 Department of Industrial & Systems Engineering, Texas A&M University, College Station, TX, 77840, USA.
| | - William S Marras
- Department of Integrated Systems Engineering, The Ohio State University, Columbus, OH, 43210, USA; Spine Research Institute, The Ohio State University, Columbus, OH, 43210, USA
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22
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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.
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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
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23
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Coltman CE, Brisbine BR, Molloy RH, Ball NB, Spratford WA, Steele JR. Identifying problems that female soldiers experience with current-issue body armour. APPLIED ERGONOMICS 2021; 94:103384. [PMID: 33690018 DOI: 10.1016/j.apergo.2021.103384] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/10/2020] [Revised: 02/05/2021] [Accepted: 02/06/2021] [Indexed: 06/12/2023]
Abstract
Despite female soldiers representing a growing user population, military body armour systems are currently better suited to the anthropometric dimensions of male soldiers. The aim of this study was to explore issues that female soldiers experience with current Australian Defence Force (ADF)-issue body armour. Following a sequential exploratory design, an initial questionnaire was completed by 97 Australian female soldiers. Subsequently, 33 Australian female soldiers participated in one of three focus groups. Descriptive statistics of questionnaire data considered alongside thematic analysis of focus group transcripts revealed problems with the design (fit, form and function) of current ADF-issue body armour, as well as problems with the issuance and education surrounding use of the system. It is recommended that anthropometric data of female soldiers be better incorporated into future body armour designs, that these data inform processes surrounding both acquisition and issuance of body armour and that training protocols for body armour use be reviewed.
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Affiliation(s)
- Celeste E Coltman
- University of Canberra Research Institute for Sport and Exercise, Faculty of Health, University of Canberra, Canberra, Australia.
| | - Brooke R Brisbine
- University of Canberra Research Institute for Sport and Exercise, Faculty of Health, University of Canberra, Canberra, Australia
| | - Richard H Molloy
- Human Systems Integration, Land Division, Defence Science and Technology Group, Department of Defence, Melbourne, Australia
| | - Nick B Ball
- University of Canberra Research Institute for Sport and Exercise, Faculty of Health, University of Canberra, Canberra, Australia
| | - Wayne A Spratford
- University of Canberra Research Institute for Sport and Exercise, Faculty of Health, University of Canberra, Canberra, Australia
| | - Julie R Steele
- Biomechanics Research Laboratory, School of Medicine, Faculty of Science, Medicine and Health, University of Wollongong, Wollongong, Australia
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24
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Kuber PM, Rashedi E. Product ergonomics in industrial exoskeletons: potential enhancements for workforce efficiency and safety. THEORETICAL ISSUES IN ERGONOMICS SCIENCE 2020. [DOI: 10.1080/1463922x.2020.1850905] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/22/2022]
Affiliation(s)
- Pranav Madhav Kuber
- Biomechanics and Ergonomics Lab, Industrial and Systems Engineering Department, Rochester Institute of Technology, Rochester, NY, USA
| | - Ehsan Rashedi
- Biomechanics and Ergonomics Lab, Industrial and Systems Engineering Department, Rochester Institute of Technology, Rochester, NY, USA
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25
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Doyon JK, Clark JD, Hajnal A, Legradi G. Effects of Surface Luminance and Texture Discontinuities on Reachableness in Virtual Reality. ECOLOGICAL PSYCHOLOGY 2020. [DOI: 10.1080/10407413.2020.1820336] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Affiliation(s)
- Jonathan K. Doyon
- Autism and Neurodevelopmental Disorders Institute, George Washington University
- Department of Psychological and Brain Sciences, George Washington University
| | | | - Alen Hajnal
- School of Psychology, University of Southern Mississippi
| | - Gabor Legradi
- College of Osteopathic Medicine, William Carey University
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