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Zhou YM, Hohimer CJ, Young HT, McCann CM, Pont-Esteban D, Civici US, Jin Y, Murphy P, Wagner D, Cole T, Phipps N, Cho H, Bertacchi F, Pignataro I, Proietti T, Walsh CJ. A portable inflatable soft wearable robot to assist the shoulder during industrial work. Sci Robot 2024; 9:eadi2377. [PMID: 38865477 DOI: 10.1126/scirobotics.adi2377] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/12/2023] [Accepted: 05/17/2024] [Indexed: 06/14/2024]
Abstract
Repetitive overhead tasks during factory work can cause shoulder injuries resulting in impaired health and productivity loss. Soft wearable upper extremity robots have the potential to be effective injury prevention tools with minimal restrictions using soft materials and active controls. We present the design and evaluation of a portable inflatable shoulder wearable robot for assisting industrial workers during shoulder-elevated tasks. The robot is worn like a shirt with integrated textile pneumatic actuators, inertial measurement units, and a portable actuation unit. It can provide up to 6.6 newton-meters of torque to support the shoulder and cycle assistance on and off at six times per minute. From human participant evaluations during simulated industrial tasks, the robot reduced agonist muscle activities (anterior, middle, and posterior deltoids and biceps brachii) by up to 40% with slight changes in joint angles of less than 7% range of motion while not increasing antagonistic muscle activity (latissimus dorsi) in current sample size. Comparison of controller parameters further highlighted that higher assistance magnitude and earlier assistance timing resulted in statistically significant muscle activity reductions. During a task circuit with dynamic transitions among the tasks, the kinematics-based controller of the robot showed robustness to misinflations (96% true negative rate and 91% true positive rate), indicating minimal disturbances to the user when assistance was not required. A preliminary evaluation of a pressure modulation profile also highlighted a trade-off between user perception and hardware demands. Finally, five automotive factory workers used the robot in a pilot manufacturing area and provided feedback.
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Affiliation(s)
- Yu Meng Zhou
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Cameron J Hohimer
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Harrison T Young
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Connor M McCann
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - David Pont-Esteban
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Umut S Civici
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Yichu Jin
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Patrick Murphy
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Diana Wagner
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Tazzy Cole
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Nathan Phipps
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Haedo Cho
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Franchesco Bertacchi
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Isabella Pignataro
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Tommaso Proietti
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Conor J Walsh
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
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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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3
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Mänttäri S, Rauttola AP, Halonen J, Karkulehto J, Säynäjäkangas P, Oksa J. Effects of upper-limb exoskeleton on muscle activity in tasks requiring arm elevation: Part II - In-field experiments in construction industry settings. Work 2024:WOR230218. [PMID: 38578911 DOI: 10.3233/wor-230218] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/07/2024] Open
Abstract
Background The body of literature regarding the use of an upper limb exoskeleton during authentic working conditions is sparse. Objective The aim of this study was to evaluate the effectiveness of an upper limb exoskeleton in reducing muscle strain during authentic industrial construction work. Methods Fifteen male participants, comprising of roofers, scaffolders, builders, bricklayers, and graders performing overhead work participated in the study. During work without (REF) and with exoskeleton (EXO), muscle activity from 8 muscles, heart rate (HR), metabolic equivalent (MET), and upper arm elevation angles were recorded. Results When using the exoskeleton, a significant reduction of 20.2% in average muscle activity of 8 muscles was found. The largest effect focused on m. deltoideus, where 46.2 and 32.2% reduction occurred in medial and anterior parts of the muscle, respectively. HR and MET were unaffected. Upper arm elevation angles were similar between REF and EXO, indicating equal biomechanical loading. Conclusions This study indicates that exoskeletons show great promise in reducing the potential for musculoskeletal strain during authentic overhead construction work.
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Affiliation(s)
- Satu Mänttäri
- Work Ability and Working Careers, Finnish Institute of Occupational Health, Oulu, Työterveyslaitos, Finland
| | - Ari-Pekka Rauttola
- Work Ability and Working Careers, Finnish Institute of Occupational Health, Helsinki, Työterveyslaitos, Finland
| | - Janne Halonen
- Work Ability and Working Careers, Finnish Institute of Occupational Health, Helsinki, Työterveyslaitos, Finland
| | - Jutta Karkulehto
- Work Ability and Working Careers, Finnish Institute of Occupational Health, Oulu, Työterveyslaitos, Finland
| | - Pihla Säynäjäkangas
- Work Ability and Working Careers, Finnish Institute of Occupational Health, Oulu, Työterveyslaitos, Finland
| | - Juha Oksa
- Work Ability and Working Careers, Finnish Institute of Occupational Health, Oulu, Työterveyslaitos, Finland
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Krimsky E, Collins SH. Elastic energy-recycling actuators for efficient robots. Sci Robot 2024; 9:eadj7246. [PMID: 38507474 DOI: 10.1126/scirobotics.adj7246] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/12/2023] [Accepted: 02/20/2024] [Indexed: 03/22/2024]
Abstract
Electric motors are widely used in robots but waste energy in many applications. We introduce an elastic energy-recycling actuator that maintains the versatility of motors while improving energy efficiency in cyclic tasks. The actuator comprises a motor in parallel with an array of springs that can be individually engaged and disengaged, while retaining stored energy, by pairs of low-power electroadhesive clutches. We developed a prototype actuator and tested it in five repetitive tasks with features common in robotic applications but difficult to perform efficiently. The actuator reduced power consumption by at least 50% in all cases and by 97% in the best case. Elastic energy recovery, controlled by low-power clutches, can improve the efficiency of mobile robots, assistive devices, and other engineered systems.
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Affiliation(s)
- Erez Krimsky
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
| | - Steven H Collins
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
- Department of Bioengineering, Stanford University, Stanford, CA 94305, USA
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Ziane C, Goubault E, Michaud B, Begon M, Dal Maso F. Muscle fatigue during assisted violin performance. ERGONOMICS 2024; 67:275-287. [PMID: 37264800 DOI: 10.1080/00140139.2023.2221416] [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: 09/26/2022] [Accepted: 05/20/2023] [Indexed: 06/03/2023]
Abstract
Muscle fatigue is a primary risk factor in developing musculoskeletal disorders, which affect up to 93% musicians, especially violinists. Devices providing dynamic assistive support (DAS) to the violin-holding arm can lessen fatigue. The objective was to assess DAS effects on electromyography median frequency and joint kinematics during a fatiguing violin-playing task. Fifteen university-level and professional violinists were equipped with electromyography sensors and reflective markers to record upper-body muscle activity and kinematics. They played G scales with and without DAS until exhaustion. Paired t-tests assessed DAS effects on delta (final-initial) electromyography median frequencies and joint kinematics. DAS prevented the median frequency decrease of left supraspinatus, superior trapezius, and right medial deltoid, and increases in trunk rotation, left-wrist abduction, and right arm-elevation plane. DAS effects on kinematics were marginal due to retention of musical performance despite fatigue. However, DAS reduced fatigue of several muscles, which is promising for injury prevention.Practitioner summary: Violinists are greatly affected by musculoskeletal disorders. Effects of a mobility assistive device on muscle fatigue during violin playing was investigated. The assistive technology slowed down the development of fatigue for three neck/shoulder muscles, making assisted musical performance a promising avenue to prevent violinists' injuries.
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Affiliation(s)
- Clara Ziane
- Laboratoire de simulation et modélisation du mouvement, School of Kinesiology and Physical Activity Sciences, University of Montreal, Laval, Canada
- Centre Interdisciplinaire de Recherche sur le Cerveau et l'Apprentissage, University of Montreal, Montreal, Canada
| | - Etienne Goubault
- Laboratoire de simulation et modélisation du mouvement, School of Kinesiology and Physical Activity Sciences, University of Montreal, Laval, Canada
| | - Benjamin Michaud
- Laboratoire de simulation et modélisation du mouvement, School of Kinesiology and Physical Activity Sciences, University of Montreal, Laval, Canada
| | - Mickaël Begon
- Laboratoire de simulation et modélisation du mouvement, School of Kinesiology and Physical Activity Sciences, University of Montreal, Laval, Canada
- Centre de Recherche du CHU Sainte-Justine, Montreal, Canada
| | - Fabien Dal Maso
- Laboratoire de simulation et modélisation du mouvement, School of Kinesiology and Physical Activity Sciences, University of Montreal, Laval, Canada
- Centre Interdisciplinaire de Recherche sur le Cerveau et l'Apprentissage, University of Montreal, Montreal, Canada
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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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Musso M, Oliveira AS, Bai S. Influence of an upper limb exoskeleton on muscle activity during various construction and manufacturing tasks. APPLIED ERGONOMICS 2024; 114:104158. [PMID: 37890312 DOI: 10.1016/j.apergo.2023.104158] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/13/2023] [Revised: 08/31/2023] [Accepted: 10/16/2023] [Indexed: 10/29/2023]
Abstract
Musculoskeletal disorders (MSDs) significantly impact workers in the manufacturing and construction sectors. One solution that has gained interest to reduce MSDs incidence is the use of exoskeletons. In this study, the influence of an upper limb exoskeleton on muscle activity was investigated experimentally for three commonly performed tasks in the manufacturing and construction sectors. The tasks tested were overhead assembly, bricklaying, and box moving tasks. Eighteen males participated in the tests. The results showed a reduction in shoulder flexor muscle activation during all three tasks (up to -45.46 ± 4.52% for the anterior deltoid), but increased extensor activation (up to 15.47 ± 8.01% for the latissimus dorsi) was observed when the task was not primarily performed above shoulder level. The results revealed the dependence of the upper-body exoskeleton on tasks and arm posture, which should be considered for both in-field applications and designing new exoskeletons for performance enhancement.
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Affiliation(s)
- Matteo Musso
- Department of Material and Production, Aalborg University, Fredrik Bajers Vej 7K, Aalborg, 9220, Denmark.
| | - Anderson Souza Oliveira
- Department of Material and Production, Aalborg University, Fredrik Bajers Vej 7K, Aalborg, 9220, Denmark.
| | - Shaoping Bai
- Department of Material and Production, Aalborg University, Fredrik Bajers Vej 7K, Aalborg, 9220, Denmark.
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8
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Mänttäri S, Rauttola AP, Halonen J, Karkulehto J, Säynäjäkangas P, Oksa J. Effects of an exoskeleton on muscle activity in tasks requiring arm elevation: Part I - Experiments in a controlled laboratory setting. Work 2024; 77:1179-1188. [PMID: 37980590 DOI: 10.3233/wor-230217] [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: 11/21/2023] Open
Abstract
BACKGROUND Long-term work with elevated arms, or overhead work, is a risk factor for musculoskeletal complaints and disorders. Upper-limb exoskeletons are a promising tool for reducing occupational workload when working with hands above shoulder level. OBJECTIVE The purpose of this study was to assess the effects of upper-limb exoskeleton on muscular and physical strain and perceived exertion during dynamic work at four different shoulder joint angles. Further, we evaluated if there are any negative effects associated with the use of exoskeleton. METHODS A total of 15 student participants performed dynamic work in laboratory setting with and without an exoskeleton at four different shoulder angles: 60, 90, 120 and 150 degrees. Muscle electrical activity from 8 muscles of the upper body, perceived exertion, and heart rate were measured during the work task, and grip strength, muscle stiffness, tone, and elasticity from six muscles, m. deltoideus physiological cross-sectional area and muscle fiber pennation angle, and nerve conduction velocity were measured before and after the work task. RESULTS Based on the results, the use of exoskeleton significantly reduced the muscle activity of the upper limb, shoulder, and back muscles. The reduction was most significant when the arm elevation was 120°, and in m. deltoideus muscle activity. RPE was also positively affected indicating reduction in workload when using exoskeleton. CONCLUSION The results suggest that the use of upper limb exoskeleton has potential to reduce physical workload during overhead work and, consequently, reduce the risk for work-related musculoskeletal disorders.
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Affiliation(s)
- Satu Mänttäri
- Work Ability and Working Careers, Finnish Institute of Occupational Health, Oulu, Finland
| | - Ari-Pekka Rauttola
- Work Ability and Working Careers, Finnish Institute of Occupational Health, Helsinki, Finland
| | - Janne Halonen
- Work Ability and Working Careers, Finnish Institute of Occupational Health, Helsinki, Finland
| | - Jutta Karkulehto
- Work Ability and Working Careers, Finnish Institute of Occupational Health, Oulu, Finland
| | - Pihla Säynäjäkangas
- Work Ability and Working Careers, Finnish Institute of Occupational Health, Oulu, Finland
| | - Juha Oksa
- Work Ability and Working Careers, Finnish Institute of Occupational Health, Oulu, Finland
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9
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Iranzo S, Belda-Lois JM, Martinez-de-Juan JL, Prats-Boluda G. Assessment of Muscle Coordination Changes Caused by the Use of an Occupational Passive Lumbar Exoskeleton in Laboratory Conditions. SENSORS (BASEL, SWITZERLAND) 2023; 23:9631. [PMID: 38139478 PMCID: PMC10747114 DOI: 10.3390/s23249631] [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: 09/26/2023] [Revised: 11/29/2023] [Accepted: 12/02/2023] [Indexed: 12/24/2023]
Abstract
The introduction of exoskeletons in industry has focused on improving worker safety. Exoskeletons have the objective of decreasing the risk of injury or fatigue when performing physically demanding tasks. Exoskeletons' effect on the muscles is one of the most common focuses of their assessment. The present study aimed to analyze the muscle interactions generated during load-handling tasks in laboratory conditions with and without a passive lumbar exoskeleton. The electromyographic data of the muscles involved in the task were recorded from twelve participants performing load-handling tasks. The correlation coefficient, coherence coefficient, mutual information, and multivariate sample entropy were calculated to determine if there were significant differences in muscle interactions between the two test conditions. The results showed that muscle coordination was affected by the use of the exoskeleton. In some cases, the exoskeleton prevented changes in muscle coordination throughout the execution of the task, suggesting a more stable strategy. Additionally, according to the directed Granger causality, a trend of increasing bottom-up activation was found throughout the task when the participant was not using the exoskeleton. Among the different variables analyzed for coordination, the most sensitive to changes was the multivariate sample entropy.
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Affiliation(s)
- Sofía Iranzo
- Instituto de Biomecánica de Valencia, Universitat Politècnica de València, 46022 Valencia, Spain; (S.I.); (J.-M.B.-L.)
| | - Juan-Manuel Belda-Lois
- Instituto de Biomecánica de Valencia, Universitat Politècnica de València, 46022 Valencia, Spain; (S.I.); (J.-M.B.-L.)
| | - Jose Luis Martinez-de-Juan
- Centro de Investigación e Innovación en Bioingeniería (Ci2B), Universitat Politècnica de València, 46022 Valencia, Spain;
| | - Gema Prats-Boluda
- Centro de Investigación e Innovación en Bioingeniería (Ci2B), Universitat Politècnica de València, 46022 Valencia, Spain;
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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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11
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Govaerts R, De Bock S, Stas L, El Makrini I, Habay J, Van Cutsem J, Roelands B, Vanderborght B, Meeusen R, De Pauw K. Work performance in industry: The impact of mental fatigue and a passive back exoskeleton on work efficiency. APPLIED ERGONOMICS 2023; 110:104026. [PMID: 37060653 DOI: 10.1016/j.apergo.2023.104026] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/15/2022] [Revised: 04/04/2023] [Accepted: 04/09/2023] [Indexed: 06/19/2023]
Abstract
Mental fatigue (MF) is likely to occur in the industrial working population. However, the link between MF and industrial work performance has not been investigated, nor how this interacts with a passive lower back exoskeleton used during industrial work. Therefore, to elucidate its potential effect(s), this study investigated the accuracy of work performance and movement duration through a dual task paradigm and compared results between mentally fatigued volunteers and controls, with and without the exoskeleton. No main effects of MF and the exoskeleton were found. However, when mentally fatigued and wearing the exoskeleton, movement duration significantly increased compared to the baseline condition (βMF:Exo = 0.17, p = .02, ω2 = .03), suggesting an important interaction between the exoskeleton and one's psychobiological state. Importantly, presented data indicate a negative effect on production efficiency through increased performance time. Further research into the cognitive aspects of industrial work performance and human-exoskeleton interaction is therefore warranted.
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Affiliation(s)
- Renée Govaerts
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Sander De Bock
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Lara Stas
- Biostatistics and Medical Informatics Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Support for Quantitative and Qualitative Research, Core Facility of the Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Ilias El Makrini
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Jelle Habay
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Jeroen Van Cutsem
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Vital Signs and Performance Monitoring Research Unit, LIFE Department, Royal Military Academy, Pleinlaan 2, B-1050, Belgium.
| | - Bart Roelands
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Bram Vanderborght
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, B-1050, Belgium.
| | - Romain Meeusen
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Kevin De Pauw
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
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12
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Ojelade A, Morris W, Kim S, Kelson D, Srinivasan D, Smets M, Nussbaum MA. Three passive arm-support exoskeletons have inconsistent effects on muscle activity, posture, and perceived exertion during diverse simulated pseudo-static overhead nutrunning tasks. APPLIED ERGONOMICS 2023; 110:104015. [PMID: 36933418 DOI: 10.1016/j.apergo.2023.104015] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/01/2022] [Revised: 02/28/2023] [Accepted: 03/09/2023] [Indexed: 06/18/2023]
Abstract
Arm-support exoskeletons (ASEs) are an emerging technology with the potential to reduce physical demands during diverse tasks, especially overhead work. However, limited information is available about the effects of different ASE designs during overhead work with diverse task demands. Eighteen participants (gender-balanced) performed lab-based simulations of a pseudo-static overhead task. This task was performed in six different conditions (3 work heights × 2 hand force directions), with each of three ASEs and in a control condition (i.e., no ASE). Using ASEs generally reduced the median activity of several shoulder muscles (by ∼12-60%), changed working postures, and decreased perceived exertion in several body regions. Such effects, though, were often task-dependent and differed between the ASEs. Our results support earlier evidence of the beneficial effects of ASEs for overhead work but emphasize that: 1) these effects depend on the task demands and ASE design and 2) none of the ASE designs tested was clearly superior across the tasks simulated.
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Affiliation(s)
- Aanuoluwapo Ojelade
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Wallace Morris
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Sunwook Kim
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
| | | | - Divya Srinivasan
- Department of Industrial Engineering, Clemson University, Clemson, SC, USA
| | - Marty Smets
- Manufacturing Technology Development, Ford Motor Company, Glendale, MI, USA
| | - Maury A Nussbaum
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA.
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13
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Gordon DFN, Christou A, Stouraitis T, Gienger M, Vijayakumar S. Adaptive assistive robotics: a framework for triadic collaboration between humans and robots. ROYAL SOCIETY OPEN SCIENCE 2023; 10:221617. [PMID: 37388317 PMCID: PMC10300679 DOI: 10.1098/rsos.221617] [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: 12/16/2022] [Accepted: 05/30/2023] [Indexed: 07/01/2023]
Abstract
Robots and other assistive technologies have a huge potential to help society in domains ranging from factory work to healthcare. However, safe and effective control of robotic agents in these environments is complex, especially when it involves close interactions and multiple actors. We propose an effective framework for optimizing the behaviour of robots and complementary assistive technologies in systems comprising a mix of human and technological agents with numerous high-level goals. The framework uses a combination of detailed biomechanical modelling and weighted multi-objective optimization to allow for the fine tuning of robot behaviours depending on the specification of the task at hand. We illustrate our framework via two case studies across assisted living and rehabilitation scenarios, and conduct simulations and experiments of triadic collaboration in practice. Our results indicate a marked benefit to the triadic approach, showing the potential to improve outcome measures for human agents in robot-assisted tasks.
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Affiliation(s)
- Daniel F. N. Gordon
- The University of Edinburgh, Edinburgh, UK
- The Alan Turing Institute, London, UK
| | | | | | | | - Sethu Vijayakumar
- The University of Edinburgh, Edinburgh, UK
- The Alan Turing Institute, London, UK
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14
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Liang CJ, Cheng MH. Trends in Robotics Research in Occupational Safety and Health: A Scientometric Analysis and Review. INTERNATIONAL JOURNAL OF ENVIRONMENTAL RESEARCH AND PUBLIC HEALTH 2023; 20:ijerph20105904. [PMID: 37239630 DOI: 10.3390/ijerph20105904] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/30/2023] [Revised: 05/16/2023] [Accepted: 05/17/2023] [Indexed: 05/28/2023]
Abstract
Robots have been deployed in workplaces to assist, work alongside, or collaborate with human workers on various tasks, which introduces new occupational safety and health hazards and requires research efforts to address these issues. This study investigated the research trends for robotic applications in occupational safety and health. The scientometric method was applied to quantitatively analyze the relationships between robotics applications in the literature. The keywords "robot", "occupational safety and health", and their variants were used to find relevant articles. A total of 137 relevant articles published during 2012-2022 were collected from the Scopus database for this analysis. Keyword co-occurrence, cluster, bibliographic coupling, and co-citation analyses were conducted using VOSviewer to determine the major research topics, keywords, co-authorship, and key publications. Robot safety, exoskeletons and work-related musculoskeletal disorders, human-robot collaboration, and monitoring were four popular research topics in the field. Finally, research gaps and future research directions were identified based on the analysis results, including additional efforts regarding warehousing, agriculture, mining, and construction robots research; personal protective equipment; and multi-robot collaboration. The major contributions of the study include identifying the current trends in the application of robotics in the occupational safety and health discipline and providing pathways for future research in this discipline.
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Affiliation(s)
- Ci-Jyun Liang
- Division of Safety Research, National Institute for Occupational Safety and Health, Morgantown, WV 26505, USA
| | - Marvin H Cheng
- Division of Safety Research, National Institute for Occupational Safety and Health, Morgantown, WV 26505, USA
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15
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Arnoux B, Farr A, Boccara V, Vignais N. Evaluation of a Passive Upper Limb Exoskeleton in Healthcare Workers during a Surgical Instrument Cleaning Task. INTERNATIONAL JOURNAL OF ENVIRONMENTAL RESEARCH AND PUBLIC HEALTH 2023; 20:3153. [PMID: 36833846 PMCID: PMC9962376 DOI: 10.3390/ijerph20043153] [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: 12/29/2022] [Revised: 02/06/2023] [Accepted: 02/07/2023] [Indexed: 06/18/2023]
Abstract
(1) Background: Healthcare workers are highly affected by work-related musculoskeletal disorders, particularly in the lower back, neck and shoulders, as their occupational tasks expose them to biomechanical constraints. One solution to prevent these musculoskeletal disorders may be the use of a passive exoskeleton as it aims to reduce muscle solicitation. However, few studies have been carried out directly in this field to assess the impact of the use of a passive upper limb exoskeleton on this population. (2) Methods: Seven healthcare workers, equipped with electromyographic sensors, performed a tool cleaning task with and without a passive upper limb exoskeleton (Hapo MS, Ergosanté Technologie, France). Six muscles of the upper limbs were analysed, i.e., anterior deltoid, biceps brachii, pectoralis major, latissimus dorsi, triceps brachii and longissimus thoracis. A subjective analysis of the usability of the equipment, the perception of effort and discomfort, was also carried out using the System Usability Scale and the Borg scale. (3) Results: The longissimus thoracis was the most used muscle during this task. We observed a significant decrease in the muscular solicitation of the anterior deltoid and latissimus dorsi when wearing the exoskeleton. Other muscles were not significantly impacted by the device. (4) Conclusions: the passive exoskeleton used in this study allowed the reduction in muscular load on the anterior deltoid and latissimus dorsi without negative effects on other muscles. Other field studies with exoskeletons are now necessary, particularly in hospitals, to increase our knowledge and improve the acceptability of this system for the prevention of musculoskeletal disorders.
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Affiliation(s)
- Bastien Arnoux
- CIAMS, Université Paris-Saclay, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45067 Orléans, France
| | - Anaïs Farr
- CIAMS, Université Paris-Saclay, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45067 Orléans, France
| | - Vincent Boccara
- LIMSI CNRS, Université Paris Sud XI, CEDEX, 91403 Orsay, France
| | - Nicolas Vignais
- CIAMS, Université Paris-Saclay, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45067 Orléans, France
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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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17
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De Bock S, Ampe T, Rossini M, Tassignon B, Lefeber D, Rodriguez-Guerrero C, Roelands B, Geeroms J, Meeusen R, De Pauw K. Passive shoulder exoskeleton support partially mitigates fatigue-induced effects in overhead work. APPLIED ERGONOMICS 2023; 106:103903. [PMID: 36148702 DOI: 10.1016/j.apergo.2022.103903] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/22/2022] [Revised: 09/04/2022] [Accepted: 09/09/2022] [Indexed: 06/16/2023]
Abstract
BACKGROUND Despite the potential of occupational passive shoulder exoskeletons (PSEs) to relieve overhead work, limited insights in overhead work precision performance impedes large-scale adoption in industry. OBJECTIVE To investigate the effect of PSE support on the reduction in task performance caused by physical fatigue. METHODS This experiment consisted of a randomized, counterbalanced cross-over design comparing Exo4Work PSE support and no support, in a physically fatigued state and a control condition. Precision performance was determined using execution speed and drilling errors. Muscle activity and shoulder joint kinematics were recorded. RESULTS Fatigue altered task performance, shoulder joint kinematics, muscle activity and subjective experience during overhead work. The PSE support mitigated the fatigue-induced changes in shoulder kinematics. Additionally, a part of the fatigue-induced co-activation of shoulder stabilizing muscles was avoided when working with the PSE. The PSE support also reduced the activity of the anterior and medial deltoid. CONCLUSION Physical fatigue provokes compensatory movements and increased co-contraction of muscles when executing overhead work. These fatigue-induced alterations are generally believed to increase the overall musculoskeletal load. The support provided by the PSE reduced muscle activity of muscles working to elevate the arm, but also partially mitigated those fatigue-induced effects. SIGNIFICANCE This study shows that the effect of PSE support on precision performance is limited, and suggested that, apart from the known effects of PSE support during overhead work, wearing the exoskeleton in a physically fatigued state may provide additional advantages.
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Affiliation(s)
- Sander De Bock
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Toon Ampe
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Marco Rossini
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Bruno Tassignon
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Dirk Lefeber
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Carlos Rodriguez-Guerrero
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Bart Roelands
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Joost Geeroms
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, 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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18
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Modeling of a Non-Rigid Passive Exoskeleton-Mathematical Description and Musculoskeletal Simulations. ROBOTICS 2022. [DOI: 10.3390/robotics11060147] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/12/2022] Open
Abstract
There is a growing application of passive exoskeletons in the industrial sector with the purpose to reduce the incidence of work-related musculoskeletal disorders (MSDs). Nowadays, while many passive shoulder exoskeletons have been developed to support overhead tasks, they present limitations in supporting tasks such as load lifting and carrying. Further developments are therefore needed to have a wider application of these devices in the industrial sector. This paper presents a modelling procedure of a passive non-rigid exoskeleton for shoulder support that can be used to evaluate the device in its development phase. The modelling began with the definition of the equations to describe the exoskeleton kinematics and dynamics to obtain the support force profile provided by the device over the shoulder flexion angle. A musculoskeletal simulation software was then used to evaluate the effect of the device on the human body. The computed support force profile is in agreement with the purpose of the device, with the maximal support force obtained for a shoulder flexion angle of 85–90°. The maximum support force value had the same magnitude as the one reported by the device user manual (3.5 kg). In particular, for a determined exoskeleton configuration, the maximum support force value computed was 34.3 N, equal to the reported by the manufacturer. The subsequent musculoskeletal simulation showed the ability of the device to reduce the muscular activation of agonist muscles such as the anterior deltoid (−36.01%) compared to the case when the exoskeleton is not used. The musculoskeletal results showed a positive effect of the device on the joint reaction forces at the glenohumeral joint with a reduction up to 41.91%. Overall the methodology and the mathematical model proposed can be used to further develop these devices, making them suitable for a wider range of tasks.
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19
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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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20
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Jorgensen MJ, Hakansson NA, Desai J. Influence of different passive shoulder exoskeletons on shoulder and torso muscle activation during simulated horizontal and vertical aircraft squeeze riveting tasks. APPLIED ERGONOMICS 2022; 104:103822. [PMID: 35689869 DOI: 10.1016/j.apergo.2022.103822] [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: 12/07/2021] [Revised: 04/22/2022] [Accepted: 06/01/2022] [Indexed: 06/15/2023]
Abstract
Aircraft manufacturing involves riveting utilizing squeeze riveting tools at heights from below elbow to overhead levels. This study assessed utilization of passive shoulder exoskeletons on shoulder and torso muscle activation during simulated squeeze riveting. Horizontal and vertical riveting tasks using squeeze riveting tools were performed by 16 aircraft workers wearing three different shoulder exoskeletons and a no-exoskeleton condition capturing electromyographic signals from shoulder and torso muscles. Exoskeletons reduced normalized EMG for the left anterior deltoid at both heights (6.6% and 15.7%), the right anterior deltoid (8.3%) and the right and left medial deltoid (9.3% and 8.9%) at the upper height for horizontal squeeze riveting. Exoskeletons reduced normalized EMG for the right and left anterior deltoids (7.0%-10.6%) and medial deltoids (1.3%-7.1%) within the upper zones during vertical squeeze riveting. Participants felt exoskeletons would be beneficial for squeeze riveting, however no preference was found among the exoskeletons used.
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Affiliation(s)
- Michael J Jorgensen
- Industrial Systems and Manufacturing Engineering Department, Wichita State University, Wichita, KS, USA.
| | - Nils A Hakansson
- Biomedical Engineering Department, Wichita State University, Wichita, KS, USA
| | - Jaydip Desai
- Biomedical Engineering Department, Wichita State University, Wichita, KS, USA
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21
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Gillette JC, Saadat S, Butler T. Electromyography-based fatigue assessment of an upper body exoskeleton during automotive assembly. WEARABLE TECHNOLOGIES 2022; 3:e23. [PMID: 38486890 PMCID: PMC10936263 DOI: 10.1017/wtc.2022.20] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 02/28/2022] [Revised: 08/03/2022] [Accepted: 08/12/2022] [Indexed: 03/17/2024]
Abstract
The purpose of this study was to assess an upper body exoskeleton during automotive assembly processes that involve elevated arm postures. Sixteen team members at Toyota Motor Manufacturing Canada were fitted with a Levitate Airframe, and each team member performed between one and three processes with and without the exoskeleton. A total of 16 assembly processes were studied. Electromyography (EMG) data were collected on the anterior deltoid, biceps brachii, upper trapezius, and erector spinae. Team members also completed a usability survey. The exoskeleton significantly reduced anterior deltoid mean active EMG amplitude (p = .01, Δ = -3.2 %MVC, d = 0.56 medium effect) and fatigue risk value (p < .01, Δ = -5.1 %MVC, d = 0.62 medium effect) across the assembly processes, with no significant changes for the other muscles tested. A subset of nine assembly processes with a greater amount of time spent in arm elevations at or above 90° (30 vs. 24%) and at or above 135° (18 vs. 9%) appeared to benefit more from exoskeleton usage. For these processes, the exoskeleton significantly reduced anterior deltoid mean active EMG amplitude (p < .01, Δ = -5.1 %MVC, d = 0.95 large effect) and fatigue risk value (p < .01, Δ = -7.4 %MVC, d = 0.96 large effect). Team members responded positively about comfort and fatigue benefits, although there were concerns about the exoskeleton hindering certain job duties. The results support quantitative testing to match exoskeleton usage with specific job tasks and surveying team members for perceived benefits/drawbacks.
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Affiliation(s)
| | - Shekoofe Saadat
- Department of Kinesiology, Iowa State University, Ames, IA, USA
| | - Terry Butler
- Lean Steps Consulting Inc., West Des Moines, IA, USA
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22
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Kopp V, Holl M, Schalk M, Daub U, Bances E, García B, Schalk I, Siegert J, Schneider U. Exoworkathlon: A prospective study approach for the evaluation of industrial exoskeletons. WEARABLE TECHNOLOGIES 2022; 3:e22. [PMID: 38486909 PMCID: PMC10936367 DOI: 10.1017/wtc.2022.17] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 02/28/2022] [Revised: 06/29/2022] [Accepted: 07/27/2022] [Indexed: 03/17/2024]
Abstract
Industrial exoskeletons have recently gained importance as ergonomic interventions for physically demanding work activities. The growing demand for exoskeletons is leading to a need for new knowledge on the effectiveness of these systems. The Exoworkathlon, as a prospective study approach, aims to assess exoskeletons in realistic use cases and to evaluate them neutrally in their entirety. For this purpose, a first set of four realistic Parcours was developed with experts from relevant industries, the German Social Accident Insurance, and the Federal Institute for Occupational Safety and Health. In addition, a set of ratings was defined to assess subjective user feedback, work quality, and objective physiological parameters. Exoworkathlon aims to bring together developers, researchers, and end-users, strengthen collaborative exchanges, and promote a platform for the prospective holistic data collection for exoskeleton evaluation. In this article, the focus is on the background and methodology of Exoworkathlon.
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Affiliation(s)
- Verena Kopp
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Department Biomechatronic Systems, Nobelstraße 12, 70569Stuttgart, Germany
| | - Mirjam Holl
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Department Biomechatronic Systems, Nobelstraße 12, 70569Stuttgart, Germany
- Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, Allmandring 35, 70569Stuttgart, Germany
| | - Marco Schalk
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Department Biomechatronic Systems, Nobelstraße 12, 70569Stuttgart, Germany
- Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, Allmandring 35, 70569Stuttgart, Germany
| | - Urban Daub
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Department Biomechatronic Systems, Nobelstraße 12, 70569Stuttgart, Germany
| | - Enrique Bances
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Department Biomechatronic Systems, Nobelstraße 12, 70569Stuttgart, Germany
- Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, Allmandring 35, 70569Stuttgart, Germany
| | - Braulio García
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Department Biomechatronic Systems, Nobelstraße 12, 70569Stuttgart, Germany
- Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, Allmandring 35, 70569Stuttgart, Germany
| | - Ines Schalk
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Department Biomechatronic Systems, Nobelstraße 12, 70569Stuttgart, Germany
- Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, Allmandring 35, 70569Stuttgart, Germany
| | - Jörg Siegert
- Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, Allmandring 35, 70569Stuttgart, Germany
| | - Urs Schneider
- Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Department Biomechatronic Systems, Nobelstraße 12, 70569Stuttgart, Germany
- Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, Allmandring 35, 70569Stuttgart, Germany
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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] [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
- *Correspondence: Marek Sierotowicz,
| | - 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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Linnenberg C, Weidner R. Industrial exoskeletons for overhead work: Circumferential pressures on the upper arm caused by the physical human-machine-interface. APPLIED ERGONOMICS 2022; 101:103706. [PMID: 35134687 DOI: 10.1016/j.apergo.2022.103706] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/31/2021] [Revised: 01/26/2022] [Accepted: 01/31/2022] [Indexed: 06/14/2023]
Abstract
This study investigated the pressures occurring within the arm human-machine-interfaces (HMI) of four different exoskeletons that support static and dynamic work at or above head level, and the effects of the HMI on neurovascular supply of the upper extremity using an orthopedic provocation maneuver with raised arms with and without the exoskeletons. Decreased time in the provocation maneuver with exoskeletons indicated a negative effect of the HMIs on the vascular and neural supply of the arm. Average pressure in the static situation was 3.2 ± 0.7 kPa and 4.4 ± 0.4 kPa with regular peak values of 6.5 ± 0.5 kPa in the dynamic task. These pressures were significantly higher than the pressure values that guarantee adequate tissue oxygenation. It remains unknown whether the way exoskeletons apply pressure affects vascular and neural supply to the arms, or whether the regular unloading during dynamic activity has a neutralizing effect.
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Affiliation(s)
- Christine Linnenberg
- Institute for Mechatronics, University of Innsbruck, Technikerstraße 13, 6020, Innsbruck, Austria.
| | - Robert Weidner
- Institute for Mechatronics, University of Innsbruck, Technikerstraße 13, 6020, Innsbruck, Austria; Laboratory for Manufacturing Technology, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Holstenhofweg 85, 22043, Hamburg, Germany.
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25
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Proud JK, Lai DTH, Mudie KL, Carstairs GL, Billing DC, Garofolini A, Begg RK. Exoskeleton Application to Military Manual Handling Tasks. HUMAN FACTORS 2022; 64:527-554. [PMID: 33203237 DOI: 10.1177/0018720820957467] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
OBJECTIVE The aim of this review was to determine how exoskeletons could assist Australian Defence Force personnel with manual handling tasks. BACKGROUND Musculoskeletal injuries due to manual handling are physically damaging to personnel and financially costly to the Australian Defence Force. Exoskeletons may minimize injury risk by supporting, augmenting, and/or amplifying the user's physical abilities. Exoskeletons are therefore of interest in determining how they could support the unique needs of military manual handling personnel. METHOD Industrial and military exoskeleton studies from 1990 to 2019 were identified in the literature. This included 67 unique exoskeletons, for which Information about their current state of development was tabulated. RESULTS Exoskeleton support of manual handling tasks is largely through squat/deadlift (lower limb) systems (64%), with the proposed use case for these being load carrying (42%) and 78% of exoskeletons being active. Human-exoskeleton analysis was the most prevalent form of evaluation (68%) with reported reductions in back muscle activation of 15%-54%. CONCLUSION The high frequency of citations of exoskeletons targeting load carrying reflects the need for devices that can support manual handling workers. Exoskeleton evaluation procedures varied across studies making comparisons difficult. The unique considerations for military applications, such as heavy external loads and load asymmetry, suggest that a significant adaptation to current technology or customized military-specific devices would be required for the introduction of exoskeletons into a military setting. APPLICATION Exoskeletons in the literature and their potential to be adapted for application to military manual handling tasks are presented.
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Affiliation(s)
| | | | - Kurt L Mudie
- 2222 Defence Science and Technology (DST), Melbourne, Australia
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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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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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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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30
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Golabchi A, Chao A, Tavakoli M. A Systematic Review of Industrial Exoskeletons for Injury Prevention: Efficacy Evaluation Metrics, Target Tasks, and Supported Body Postures. SENSORS 2022; 22:s22072714. [PMID: 35408328 PMCID: PMC9002381 DOI: 10.3390/s22072714] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/03/2022] [Revised: 03/28/2022] [Accepted: 03/30/2022] [Indexed: 01/25/2023]
Abstract
Industrial workplaces expose workers to a high risk of injuries such as Work-related Musculoskeletal Disorders (WMSDs). Exoskeletons are wearable robotic technologies that can be used to reduce the loads exerted on the body's joints and reduce the occurrence of WMSDs. However, current studies show that the deployment of industrial exoskeletons is still limited, and widespread adoption depends on different factors, including efficacy evaluation metrics, target tasks, and supported body postures. Given that exoskeletons are not yet adopted to their full potential, we propose a review based on these three evaluation dimensions that guides researchers and practitioners in properly evaluating and selecting exoskeletons and using them effectively in workplaces. Specifically, evaluating an exoskeleton needs to incorporate: (1) efficacy evaluation metrics based on both subjective (e.g., user perception) and objective (e.g., physiological measurements from sensors) measures, (2) target tasks (e.g., manual material handling and the use of tools), and (3) the body postures adopted (e.g., squatting and stooping). This framework is meant to guide the implementation and assessment of exoskeletons and provide recommendations addressing potential challenges in the adoption of industrial exoskeletons. The ultimate goal is to use the framework to enhance the acceptance and adoption of exoskeletons and to minimize future WMSDs in industrial workplaces.
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Affiliation(s)
- Ali Golabchi
- Department of Civil and Environmental Engineering, University of Alberta, Edmonton, AB T6G 1H9, Canada;
| | - Andrew Chao
- Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB T6G 1H9, Canada;
| | - Mahdi Tavakoli
- Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB T6G 1H9, Canada;
- Correspondence:
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31
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Lavallée-Bourget MH, Campeau-Lecours A, Tittley J, Bielmann M, Bouyer LJ, Roy JS. The use of a three-dimensional dynamic arm support prevents the development of muscle fatigue during repetitive manual tasks in healthy individuals. PLoS One 2022; 17:e0266390. [PMID: 35363820 PMCID: PMC8975113 DOI: 10.1371/journal.pone.0266390] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/13/2021] [Accepted: 03/20/2022] [Indexed: 11/19/2022] Open
Abstract
Work-related upper extremity disorders are costly to society due to resulting medical costs, presenteeism and absenteeism. Although their aetiology is likely multifactorial, physical workplace factors are known to play an important role in their development. Promising options for preventing work-related upper extremity disorders include assistive technologies such as dynamic arm supports designed to follow the movement of the arm while compensating for its weight. The objective of this study was to assess the effects of a dynamic arm support on perceived exertion, muscle activity and movement patterns of the upper limb during repetitive manual tasks in healthy individuals. Thirty healthy right-handed individuals were allocated either a static or a dynamic task to perform with and without a dynamic arm support. During the task, surface electromyographic activity (anterior and middle deltoid, upper trapezius) and upper limb kinematics (elbow, shoulder, sternoclavicular) were measured using surface EMG and inertial sensors. Results showed that the dynamic arm support significantly reduced perceived exertion during the tasks and limited the development of muscular fatigue of the anterior and middle deltoid as demonstrated by EMG signal mean epoch amplitudes and median frequency of the EMG power spectrum. The dynamic arm support also prevented a decrease in shoulder elevation and an increase in total shoulder joint excursion during static and dynamic task, respectively. These results denote the potential benefits of dynamic arm supports in work environments. Further studies should focus on their efficacy, acceptability and implementability in work settings.
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Affiliation(s)
- Marie-Hélène Lavallée-Bourget
- Center for Interdisciplinary Research in Rehabilitation and Social Integration (Cirris), Québec City, Canada
- Faculty of Medicine, Université Laval, Québec City, Canada
| | - Alexandre Campeau-Lecours
- Center for Interdisciplinary Research in Rehabilitation and Social Integration (Cirris), Québec City, Canada
- Faculty of Science and Engineering, Université Laval, Québec City, Canada
| | - Jean Tittley
- Center for Interdisciplinary Research in Rehabilitation and Social Integration (Cirris), Québec City, Canada
| | - Mathieu Bielmann
- Center for Interdisciplinary Research in Rehabilitation and Social Integration (Cirris), Québec City, Canada
- Faculty of Medicine, Université Laval, Québec City, Canada
| | - Laurent J. Bouyer
- Center for Interdisciplinary Research in Rehabilitation and Social Integration (Cirris), Québec City, Canada
- Faculty of Medicine, Université Laval, Québec City, Canada
| | - Jean-Sébastien Roy
- Center for Interdisciplinary Research in Rehabilitation and Social Integration (Cirris), Québec City, Canada
- Faculty of Medicine, Université Laval, Québec City, Canada
- * E-mail:
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De Bock S, Rossini M, Lefeber D, Rodriguez-Guerrero C, Geeroms J, Meeusen R, De Pauw K. An Occupational Shoulder Exoskeleton Reduces Muscle Activity and Fatigue During Overhead Work. IEEE Trans Biomed Eng 2022; 69:3008-3020. [PMID: 35290183 DOI: 10.1109/tbme.2022.3159094] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
Objective. This paper assesses the effect of a passive shoulder exoskeleton prototype, Exo4Work, on muscle activity, muscle fatigue and subjective experience during simulated occupational overhead and non-overhead work. Methods. Twenty-two healthy males performed six simulated industrial tasks with and without Exo4Work exoskeleton in a randomized counterbalanced cross-over design. During these tasks electromyography, heart rate, metabolic cost, subjective parameters and performance parameters were acquired. The effect of the exoskeleton and the body side on these parameters was investigated. Results. Anterior deltoid activity and fatigue reduced up to 16% and 41%, respectively, during isometric overhead work, and minimized hindrance of the device during non-overhead tasks. Wearing the exoskeleton increased feelings of frustration and increased discomfort in the areas where the exoskeleton and the body interfaced. The assistive effect of the exoskeleton was less prominent during dynamic tasks. Conclusion. This exoskeleton may reduce muscle activity and delay development of muscle fatigue in an overhead working scenario. For dynamic applications, the exoskeleton's assistive profile, which mimics the gravitational torque of the arm, is potentially sub-optimal. Significance. This evaluation paper is the first to report reduced muscle fatigue and activity when working with an occupational shoulder exoskeleton providing one third of the gravitational torque of the arm during overhead work. These results stress the potential of occupational shoulder exoskeletons in overhead working situations and may direct towards longitudinal field experiments. Additionally, this experiment may stimulate future work to further investigate the effect of different assistive profiles.
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Kim S, Nussbaum MA, Smets M. Usability, User Acceptance, and Health Outcomes of Arm-Support Exoskeleton Use in Automotive Assembly: An 18-month Field Study. J Occup Environ Med 2022; 64:202-211. [PMID: 34873132 DOI: 10.1097/jom.0000000000002438] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/26/2022]
Abstract
OBJECTIVE Examine arm-support exoskeleton (ASE) user experience over time, identify factors contributing to ASE intention-to-use, and explore whether ASE use may influence the number of medical visits. METHODS An 18-month, longitudinal study with ASE (n = 65) and control groups (n = 133) completed at nine automotive manufacturing facilities. RESULTS Responses to six usability questions were rather consistent over time. ASE use perceived effective in reducing physical demands on the shoulders, neck, and back. Perceived job performance, and overall fit and comfort, appeared to be key determinants for ASE intention-to-use. Based on medical visits among both groups, ASE use may decrease the likelihood of such visits. CONCLUSIONS These field results support the potential of ASEs as a beneficial ergonomic intervention, but also highlight needs for further research on ASE designs, factors driving intention-to-use, and health outcomes.
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Affiliation(s)
- Sunwook Kim
- Department of Industrial & Systems Engineering, Virginia Tech, Blacksburg, Virginia (Dr Kim, Dr Nussbaum); Manufacturing Technology Development, Ford Motor Company, Glendale, Michigan (Mr Smets)
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Hoffmann N, Prokop G, Weidner R. Methodologies for evaluating exoskeletons with industrial applications. ERGONOMICS 2022; 65:276-295. [PMID: 34415823 DOI: 10.1080/00140139.2021.1970823] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [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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McDevitt S, Hernandez H, Hicks J, Lowell R, Bentahaikt H, Burch R, Ball J, Chander H, Freeman C, Taylor C, Anderson B. Wearables for Biomechanical Performance Optimization and Risk Assessment in Industrial and Sports Applications. Bioengineering (Basel) 2022; 9:33. [PMID: 35049742 PMCID: PMC8772827 DOI: 10.3390/bioengineering9010033] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/30/2021] [Revised: 01/07/2022] [Accepted: 01/10/2022] [Indexed: 11/23/2022] Open
Abstract
Wearable technologies are emerging as a useful tool with many different applications. While these devices are worn on the human body and can capture numerous data types, this literature review focuses specifically on wearable use for performance enhancement and risk assessment in industrial- and sports-related biomechanical applications. Wearable devices such as exoskeletons, inertial measurement units (IMUs), force sensors, and surface electromyography (EMG) were identified as key technologies that can be used to aid health and safety professionals, ergonomists, and human factors practitioners improve user performance and monitor risk. IMU-based solutions were the most used wearable types in both sectors. Industry largely used biomechanical wearables to assess tasks and risks wholistically, which sports often considered the individual components of movement and performance. Availability, cost, and adoption remain common limitation issues across both sports and industrial applications.
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Affiliation(s)
- Sam McDevitt
- Department of Electrical & Computer Engineering, Mississippi State University, Starkville, MS 39765, USA; (S.M.); (H.H.); (J.B.)
| | - Haley Hernandez
- Department of Electrical & Computer Engineering, Mississippi State University, Starkville, MS 39765, USA; (S.M.); (H.H.); (J.B.)
| | - Jamison Hicks
- Department of Industrial & Systems Engineering, Mississippi State University, Starkville, MS 39765, USA; (J.H.); (R.B.)
| | - Russell Lowell
- Neuromechanics Laboratory, Department of Kinesiology, Mississippi State University, Starkville, MS 39765, USA; (R.L.); (H.C.)
| | - Hamza Bentahaikt
- Department of Mechanical Engineering, Mississippi State University, Starkville, MS 39765, USA;
| | - Reuben Burch
- Department of Industrial & Systems Engineering, Mississippi State University, Starkville, MS 39765, USA; (J.H.); (R.B.)
- Human Factors & Athlete Engineering, Center for Advanced Vehicular Systems, Mississippi State University, Starkville, MS 39765, USA
| | - John Ball
- Department of Electrical & Computer Engineering, Mississippi State University, Starkville, MS 39765, USA; (S.M.); (H.H.); (J.B.)
- Human Factors & Athlete Engineering, Center for Advanced Vehicular Systems, Mississippi State University, Starkville, MS 39765, USA
| | - Harish Chander
- Neuromechanics Laboratory, Department of Kinesiology, Mississippi State University, Starkville, MS 39765, USA; (R.L.); (H.C.)
- Human Factors & Athlete Engineering, Center for Advanced Vehicular Systems, Mississippi State University, Starkville, MS 39765, USA
| | - Charles Freeman
- Department of Human Sciences, Mississippi State University, Starkville, MS 39765, USA
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Martin WB, Boehler A, Hollander KW, Kinney D, Hitt JK, Kudva J, Sugar TG. Development and testing of the aerial porter exoskeleton. WEARABLE TECHNOLOGIES 2022; 3:e1. [PMID: 38486913 PMCID: PMC10936400 DOI: 10.1017/wtc.2021.18] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/20/2020] [Revised: 10/05/2021] [Accepted: 11/28/2021] [Indexed: 03/17/2024]
Abstract
Back pain is one of the largest drivers of workplace injury and lost productivity in industries around the world. Back injuries were one of the leading reasons in resulting in days away from work at 38.5% across all occupations, increasing for manual laborers to 43%. While the cause of the back pain can vary across occupations, for materiel movers it is often caused from repetitive poor lifting. To reduce the issues, the Aerial Porter Exoskeleton (APEx) was created. The APEx uses a hip-mounted, powered exoskeleton attached to an adjustable vest. An onboard computer calculates the configuration of the user to determine when to activate. Lift form is assisted by using a novel lumbar brace mounted on the sides of the hips. Properly worn, the APEx holds the user upright while providing additional hip torque through a lift. This was tested by having participants complete a lifting test with the exoskeleton worn in the "on" configuration compared with the exoskeleton not worn. The APEx has been shown to deliver 30 Nm of torque in lab testing. The activity recognition algorithm has also been shown to be accurate in 95% of tested conditions. When worn by subjects, testing has shown average peak reductions of 14.9% BPM, 8% in VO2 consumption, and an 8% change in perceived effort favoring the APEx.
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Affiliation(s)
- W. Brandon Martin
- Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, Arizona, USA
| | - Alexander Boehler
- Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, Arizona, USA
| | | | | | | | - Jay Kudva
- NextGen Aeronautics, Inc., Torrance, California, USA
| | - Thomas G. Sugar
- Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, Arizona, USA
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Schmalz T, Colienne A, Bywater E, Fritzsche L, Gärtner C, Bellmann M, Reimer S, Ernst M. A Passive Back-Support Exoskeleton for Manual Materials Handling: Reduction of Low Back Loading and Metabolic Effort during Repetitive Lifting. IISE Trans Occup Ergon Hum Factors 2022. [PMID: 34763618 DOI: 10.1080/24725838.2021.2005720] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 10/18/2022]
Abstract
OCCUPATIONAL APPLICATIONSGlobalization and eCommerce continue to fuel unprecedented growth in the logistics and warehousing markets. Simultaneously, the biggest bottleneck for these industries is their human capital. Where automation and robotic solutions fail to deliver a return on investment, humans frequently take over handling tasks that place harmful loads and strains on the body. Occupational exoskeletons can reduce fatigue and strain by supporting the lower spine and are designed to prevent work-related musculoskeletal disorders and other injuries. They are a mid- to long-term investment for industries to improve ergonomic conditions in workplaces, with the potential for reducing absences from work, sick days logged, and workers compensation claims. To examine the effectiveness of the newly introduced Paexo Back exoskeleton, a study was completed with 10 participants who completed manual load handling tasks with and without the exoskeleton. Key findings include significant reductions in metabolic effort and low back loading when the exoskeleton is worn.
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Affiliation(s)
- Thomas Schmalz
- Ottobock SE & Co. KGaA/Clinical Research & Services - Biomechanics, Göttingen, Germany
| | - Anja Colienne
- Private University of Applied Science, Göttingen, Germany
| | | | | | | | - Malte Bellmann
- Ottobock SE & Co. KGaA/Clinical Research & Services - Biomechanics, Göttingen, Germany
| | - Samuel Reimer
- Ottobock SE & Co. KGaA/Business Development Industrials, Duderstadt, Germany
| | - Michael Ernst
- Ottobock SE & Co. KGaA/Clinical Research & Services - Biomechanics, Göttingen, Germany
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De Bock S, Ghillebert J, Govaerts R, Tassignon B, Rodriguez-Guerrero C, Crea S, Veneman J, Geeroms J, Meeusen R, De Pauw K. Benchmarking occupational exoskeletons: An evidence mapping systematic review. APPLIED ERGONOMICS 2022; 98:103582. [PMID: 34600307 DOI: 10.1016/j.apergo.2021.103582] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/17/2021] [Revised: 09/03/2021] [Accepted: 09/07/2021] [Indexed: 06/13/2023]
Abstract
OBJECTIVES To provide an overview of protocols assessing the effect of occupational exoskeletons on users and to formulate recommendations towards a literature-based assessment framework to benchmark the effect of occupational exoskeletons on the user. METHODS PubMed (MEDLINE), Web of Science database and Scopus were searched (March 2, 2021). Studies were included if they investigated the effect of one or more occupational exoskeletons on the user. RESULTS In total, 139 eligible studies were identified, encompassing 33, 25 and 18 unique back, shoulder and other exoskeletons, respectively. Device validation was most frequently conducted using controlled tasks while collecting muscle activity and biomechanical data. As the exoskeleton concept matures, tasks became more applied and the experimental design more representative. With that change towards realistic testing environments came a trade-off with experimental control, and user experience data became more valuable. DISCUSSION This evidence mapping systematic review reveals that the assessment of occupational exoskeletons is a dynamic process, and provides literature-based assessment recommendations. The homogeneity and repeatability of future exoskeleton assessment experiments will increase following these recommendations. The current review recognises the value of variability in evaluation protocols in order to obtain an overall overview of the effect of exoskeletons on the users, but the presented framework strives to facilitate benchmarking the effect of occupational exoskeletons on the users across this variety of assessment protocols.
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Affiliation(s)
- Sander De Bock
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium; Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium.
| | - Jo Ghillebert
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium; Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium
| | - Renée Govaerts
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium; Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium
| | - Bruno Tassignon
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium
| | - Carlos Rodriguez-Guerrero
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium; Department of Mechanical Engineering, Faculty of Applied Sciences, Vrije Universiteit Brussel and Flanders Make, 1050, Brussels, Belgium; COST (European Cooperation in Science and Technology) Action 16116, Wearable Robots for Augmentation, Assistance or Substitution of Human Motor Functions, Belgium
| | - Simona Crea
- COST (European Cooperation in Science and Technology) Action 16116, Wearable Robots for Augmentation, Assistance or Substitution of Human Motor Functions, Belgium; The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy; IRCCS Fondazione Don Carlo Gnocchi, Florence, Italy
| | - Jan Veneman
- COST (European Cooperation in Science and Technology) Action 16116, Wearable Robots for Augmentation, Assistance or Substitution of Human Motor Functions, Belgium; Hocoma AG, Volketswil, Switzerland
| | - Joost Geeroms
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium; Department of Mechanical Engineering, Faculty of Applied Sciences, Vrije Universiteit Brussel and Flanders Make, 1050, Brussels, Belgium
| | - Romain Meeusen
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium; Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium; Strategic Research Program 'Exercise and the Brain in Health and Disease: The Added Value of Human-Centered Robotics', Vrije Universiteit Brussel, 1050, Brussels, Belgium
| | - Kevin De Pauw
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium; Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium; Strategic Research Program 'Exercise and the Brain in Health and Disease: The Added Value of Human-Centered Robotics', Vrije Universiteit Brussel, 1050, Brussels, Belgium
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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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Kim S, Nussbaum MA, Smets M, Ranganathan S. Effects of an arm-support exoskeleton on perceived work intensity and musculoskeletal discomfort: An 18-month field study in automotive assembly. Am J Ind Med 2021; 64:905-914. [PMID: 34363229 DOI: 10.1002/ajim.23282] [Citation(s) in RCA: 14] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/23/2021] [Revised: 07/16/2021] [Accepted: 07/22/2021] [Indexed: 11/07/2022]
Abstract
BACKGROUND Exoskeleton (EXO) technologies are a promising ergonomic intervention to reduce the risk of work-related musculoskeletal disorders, with efficacy supported by laboratory- and field-based studies. However, there is a lack of field-based evidence on long-term effects of EXO use on physical demands. METHODS A longitudinal, controlled research design was used to examine the effects of arm-support exoskeleton (ASE) use on perceived physical demands during overhead work at nine automotive manufacturing facilities. Data were collected at five milestones (baseline and at 1, 6, 12, and 18 months) using questionnaires. Linear mixed models were used to understand the effects of ASE use on perceived work intensity and musculoskeletal discomfort (MSD). Analyses were based on a total of 41 participants in the EXO group and 83 in a control group. RESULTS Across facilities, perceived work intensity and MSD scores did not differ significantly between the EXO and control groups. In some facilities, however, neck and shoulder MSD scores in the EXO group decreased over time. Wrist MSD scores in the EXO group in some facilities remained unchanged, while those scores increased in the control group over time. Upper arm and low back MSD scores were comparable between the experimental groups. CONCLUSION Longitudinal effects of ASE use on perceived physical demands were not found, though some suggestive results were evident. This lack of consistent findings is discussed, particularly supporting the need for systematic and evidence-based ASE implementation approaches in the field that can guide the optimal selection of a job for ASE use.
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Affiliation(s)
- Sunwook Kim
- Department of Industrial & Systems Engineering, Virginia Tech, Blacksburg, Virginia, USA
| | - Maury A Nussbaum
- Department of Industrial & Systems Engineering, Virginia Tech, Blacksburg, Virginia, USA
| | - Marty Smets
- Manufacturing Technology Development, Ford Motor Company, Glendale, Michigan, USA
| | - Shyam Ranganathan
- Department of Statistics, Virginia Tech Virginia Tech Blacksburg, Blacksburg, Virginia, USA
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Hammerberg AG, Kramer PA. Consistent inconsistencies in braking: a spatial analysis. Interface Focus 2021; 11:20200058. [PMID: 34938429 DOI: 10.1098/rsfs.2020.0058] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 06/21/2021] [Indexed: 11/12/2022] Open
Abstract
The dynamic system that is the bipedal body in motion is of interest to engineers, clinicians and biological anthropologists alike. Spatial statistics is more familiar to public health researchers as a way of analysing disease clustering and spread; nonetheless, this is a practical approach to the two-dimensional topography of the foot. We quantified the clustering of the centre of pressure (CoP) on the foot for peak braking and propulsive vertical ground reaction forces (GRFs) over multiple, contiguous steps to assess the consistency of the location of peak forces on the foot during walking. The vertical GRFs of 11 participants were collected continuously via a wireless insole system (MoticonReGo AG) across various experimental conditions. We hypothesized that CoPs would cluster in the hindfoot for braking and forefoot for propulsion, and that braking would demonstrate more consistent clustering than propulsion. Contrary to our hypotheses, we found that CoPs during braking are inconsistent in their location, and CoPs during propulsion are more consistent and clustered across all participants and all trials. These results add to our understanding of the applied forces on the foot so that we can better predict fatigue failures and better understand the mechanisms that shaped the modern bipedal form.
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Affiliation(s)
- Alexandra G Hammerberg
- Primate Evolutionary Biomechanics Laboratory, University of Washington, Seattle, WA 98195-3100, USA
| | - Patricia Ann Kramer
- Primate Evolutionary Biomechanics Laboratory, University of Washington, Seattle, WA 98195-3100, 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: 42] [Impact Index Per Article: 14.0] [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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Harith HH, Mohd MF, Nai Sowat S. A preliminary investigation on upper limb exoskeleton assistance for simulated agricultural tasks. APPLIED ERGONOMICS 2021; 95:103455. [PMID: 33991852 DOI: 10.1016/j.apergo.2021.103455] [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: 10/11/2020] [Revised: 04/26/2021] [Accepted: 04/28/2021] [Indexed: 06/12/2023]
Abstract
Manual harvesting is still prevalent in the agricultural industry. Accordingly, it is one of the largest contributors toward work-related musculoskeletal disorder. The cutting task in oil palm harvesting uses a long pole and involves repetitive and forceful motion of the upper limbs. Exoskeleton technology is increasingly explored to assist manual tasks performance in manufacturing and heavy industries, mainly for reducing discomfort and injuries, and improving productivity. This paper reports an initial investigation on the feasibility of using an upper limb exoskeleton to assist oil palm harvesting tasks. Previous studies highlighted that exoskeletons for agricultural activities should be adaptable to changing field tasks, tools and equipment. The immediate difference in the activity of three muscles were analyzed for a range of harvesting-simulated tasks. Lower activities were observed for tasks involving overhead work when using the prototype. Nevertheless, users' feedback highlighted that its design should be optimized for better acceptance.
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Affiliation(s)
- Hazreen H Harith
- Department of Biological and Agricultural Engineering, Faculty of Engineering, Universiti Putra Malaysia, Serdang, 43400, Selangor, Malaysia.
| | - Muhammad Fuad Mohd
- Department of Biological and Agricultural Engineering, Faculty of Engineering, Universiti Putra Malaysia, Serdang, 43400, Selangor, Malaysia
| | - Sharence Nai Sowat
- Department of Biological and Agricultural Engineering, Faculty of Engineering, Universiti Putra Malaysia, Serdang, 43400, Selangor, Malaysia
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Ziane C, Michaud B, Begon M, Dal Maso F. How Do Violinists Adapt to Dynamic Assistive Support? A Study Focusing on Kinematics, Muscle Activity, and Musical Performance. HUMAN FACTORS 2021:187208211033450. [PMID: 34348514 PMCID: PMC10375010 DOI: 10.1177/00187208211033450] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
OBJECTIVE Assessing violinists' motor and musical performance adaptations to dynamic assistive support (DAS) provided by a passive device, using a force-field adaptation paradigm. BACKGROUND Up to 93% of instrumentalists are affected by musculoskeletal injuries and particularly violinists. The repetitive nature of their work may lead to muscle fatigue, an injury risk factor. DAS has been used in occupational settings to minimize muscle activations and limit fatigue accumulation. DAS may however affect motor and musical performance. METHOD Fifteen expert violinists were equipped with reflective markers and surface and intramuscular electromyography (EMG) sensors. Movements, muscle activations, and sound were recorded while participants completed three experimental conditions for which they continuously played a 13-s musical excerpt: Control (no DAS), Adaptation (DAS), and Washout (no DAS). DAS was applied at the left elbow (violin-holding side). Conditions were repeated 1 week later. Participants later listened to their own audio recordings playing with and without DAS and blindly assessed their performances. Linear mixed models were used to compare DAS and no-DAS conditions' kinematic, EMG, and musical performance data. RESULTS DAS perturbed user kinematics but reduced mean activations of left medial deltoid and superior trapezius. Joint kinematic and muscle activation patterns between DAS and no DAS conditions however remained similar. Musical performance was unchanged with DAS. CONCLUSION Though DAS modified violinists' upper-limb configurations, resulting kinematics were not detrimental to musical performance. Reduced muscle activations with DAS could contribute to lessening muscle fatigue. APPLICATION Although its effect on muscle fatigue should be further investigated, DAS might be useful in preventing violinists' injuries.
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Affiliation(s)
- Clara Ziane
- 5622 Université de Montréal, Laval, QC, Canada
- Centre Interdisciplinaire de Recherche sur le Cerveau et l'Apprentissage (CIRCA), Montreal, QC, Canada
| | | | - Mickaël Begon
- 5622 Université de Montréal, Laval, QC, Canada
- Centre de Recherche du CHU Sainte-Justine, Montreal, QC, Canada
| | - Fabien Dal Maso
- 5622 Université de Montréal, Laval, QC, Canada
- Centre Interdisciplinaire de Recherche sur le Cerveau et l'Apprentissage (CIRCA), Montreal, QC, Canada
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Zhou X, Zheng L. Model-Based Comparison of Passive and Active Assistance Designs in an Occupational Upper Limb Exoskeleton for Overhead Lifting. IISE Trans Occup Ergon Hum Factors 2021. [PMID: 34254566 DOI: 10.1080/24725838.2021.1954565] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 10/18/2022]
Abstract
OCCUPATIONAL APPLICATIONSIn recent years, various upper limb exoskeletons have been developed aiming to support industrial workers for a range of tasks and reduce risks of work-related musculoskeletal disorders. Most commercially available upper limb exoskeletons are passive systems that use compliant elements such as springs or elastic components to store and release energy to assist the user's motion. In contrast, many active exoskeletons, which are typically comprised of one or more powered actuators to provide joint assistance, are still in the research and development stages. Nevertheless, the functions and efficacy of various exoskeleton systems need to be further compared and assessed. This study presents a model-based approach to evaluate different designs of passive and active assistance and demonstrates the benefits of both assistance methods in an overhead lifting task. In addition, the modeling and simulation indicate the potential advantages of using the active assistance, based on electromyography.
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Affiliation(s)
- Xianlian Zhou
- Department of Biomedical Engineering, New Jersey Institute of Technology, Newark, NJ, USA
| | - Liying Zheng
- Health Effects Laboratory Division, National Institute for Occupational Safety and Health, Morgantown, WV, USA
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Evaluation of two upper-limb exoskeletons during overhead work: influence of exoskeleton design and load on muscular adaptations and balance regulation. Eur J Appl Physiol 2021; 121:2811-2823. [PMID: 34173059 DOI: 10.1007/s00421-021-04747-9] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/30/2020] [Accepted: 06/12/2021] [Indexed: 10/21/2022]
Abstract
PURPOSE Overhead works (OHW) are identified as a major risk factor for shoulder musculoskeletal disorders. The use of upper-limb exoskeletons (EXOUL) is emerging to address these challenges. This research tested the influence of EXOUL design and load on the upper-limb and postural muscles activity, and on the balance control, during OHW. METHODS This study compared two passive EXOUL, notably differing by the level of assistive torque delivered. Both EXOUL was examined in two load conditions (2 vs. 8 kg). Twenty-nine volunteers performed a static OHW for each condition. RESULTS Both EXOUL led to similar reductions in shoulder flexor muscle activity (12.3 ± 7.8% of RMSREF), compared to without equipment (29.0 ± 14.2% RMSREF). Both EXOUL resulted in a reduction in the activity of shoulder (3.6 ± 3.2% RMSREF) and wrist (2.4 ± 1.7% RMSREF) extensor muscles (4.9 ± 3.9 and 5.9 ± 6.1% RMSREF, respectively). The use of EXOUL led to reductions in back muscle activity, depending on the exoskeleton design (in % RMSREF, 12.9 ± 9.4 for EXO1, 22.8 ± 12.6 for EXO2 and 32.0 ± 18.4 without equipment). Wearing EXOUL induced changes in balance regulation, depending on both exoskeleton design and load condition. CONCLUSION The increase of assistive torque was not associated with an increase in EXOUL performance. However, the exoskeleton design (mass, balance, and assistive torque) has to be suitable for the load handled during static OHW to optimize the effects of using an EXOUL on the postural muscles.
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The Effects of a Passive Exoskeleton on Human Thermal Responses in Temperate and Cold Environments. INTERNATIONAL JOURNAL OF ENVIRONMENTAL RESEARCH AND PUBLIC HEALTH 2021; 18:ijerph18083889. [PMID: 33917655 PMCID: PMC8067969 DOI: 10.3390/ijerph18083889] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/09/2021] [Revised: 03/29/2021] [Accepted: 03/30/2021] [Indexed: 11/17/2022]
Abstract
The exoskeleton as functional wearable equipment has been increasingly used in working environments. However, the effects of wearing an exoskeleton on human thermal responses are still unknown. In this study, 10 male package handlers were exposed to 10 °C (COLD) and 25 °C (TEMP) ambient temperatures while performing a 10 kg lifting task (LIFTING) and sedentary (REST) both with (EXO) and without the exoskeleton (WEXO). Thermal responses, including the metabolic rate and mean skin temperature (MST), were continuously measured. Thermal comfort, thermal sensation and sweat feeling were also recorded. For LIFTING, metabolic heat production is significant decrease with the exoskeleton support. The MST and thermal sensation significantly increase when wearing the exoskeleton, but thermal discomfort and sweating are only aggravated in TEMP. For REST, MST and thermal sensation are also increased by the exoskeleton, and there is no significant difference in the metabolic rate between EXO and WEXO. The thermal comfort is significantly improved by wearing the exoskeleton only in COLD. The results suggest that the passive exoskeleton increases the local clothing insulation, and the way of wearing reduces the “pumping effect”, which makes a difference in the thermal response between COLD and TEMP. Designers need to develop appropriate usage strategies according to the operative temperature.
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Zheng L, Lowe B, Hawke AL, Wu JZ. Evaluation and Test Methods of Industrial Exoskeletons In Vitro, In Vivo, and In Silico: A Critical Review. Crit Rev Biomed Eng 2021; 49:1-13. [PMID: 35695600 PMCID: PMC9199587 DOI: 10.1615/critrevbiomedeng.2022041509] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Industrial exoskeletons have been used to assist workers during occupational activities, such as overhead work, tool-use, mobility, stooping/squatting, and/or load carrying in various industries. Despite the promise of reducing the risk of work-related musculoskeletal disorders, there is a lack of sufficient evidence to support the safe and effective use of industrial exoskeletons. To assess the merits and residual risks of various types of exoskeletons in different work settings, more comprehensive evaluation procedures are needed. This review study aims to provide an overview of the existing viable and promising methods for evaluating the effectiveness of industrial exoskeletons. The different evaluation methods are organized into three categories-in vitro, in vivo, and in silico studies. The limitations and challenges in different types of evaluation approaches are also discussed. In summary, this review sheds light on choosing appropriate evaluation approaches and may help with decision-making during the development, evaluation, and application of industrial exoskeletons.
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Affiliation(s)
- Liying Zheng
- Health Effects Laboratory Division, National institute for Occupational Safety and Health, Morgantown, WV
| | - Brian Lowe
- Division of Field Studies and Engineering, National institute for Occupational Safety and Health, Cincinnati, OH
| | - Ashley L. Hawke
- Health Effects Laboratory Division, National institute for Occupational Safety and Health, Morgantown, WV
| | - John Z. Wu
- Health Effects Laboratory Division, National institute for Occupational Safety and Health, Morgantown, WV
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De Bock S, Ghillebert J, Govaerts R, Elprama SA, Marusic U, Serrien B, Jacobs A, Geeroms J, Meeusen R, De Pauw K. Passive Shoulder Exoskeletons: More Effective in the Lab Than in the Field? IEEE Trans Neural Syst Rehabil Eng 2021; 29:173-183. [DOI: 10.1109/tnsre.2020.3041906] [Citation(s) in RCA: 18] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Del Ferraro S, Falcone T, Ranavolo A, Molinaro V. The Effects of Upper-Body Exoskeletons on Human Metabolic Cost and Thermal Response during Work Tasks-A Systematic Review. INTERNATIONAL JOURNAL OF ENVIRONMENTAL RESEARCH AND PUBLIC HEALTH 2020; 17:E7374. [PMID: 33050273 PMCID: PMC7600262 DOI: 10.3390/ijerph17207374] [Citation(s) in RCA: 21] [Impact Index Per Article: 5.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/12/2020] [Revised: 10/01/2020] [Accepted: 10/04/2020] [Indexed: 12/12/2022]
Abstract
BACKGROUND New wearable assistive devices (exoskeletons) have been developed for assisting people during work activity or rehabilitation. Although exoskeletons have been introduced into different occupational fields in an attempt to reduce the risk of work-related musculoskeletal disorders, the effectiveness of their use in workplaces still needs to be investigated. This systematic review focused on the effects of upper-body exoskeletons (UBEs) on human metabolic cost and thermophysiological response during upper-body work tasks. METHODS articles published until 22 September 2020 were selected from Scopus, Web of Science, and PubMed for eligibility and the potential risk of bias was assessed. RESULTS Nine articles resulted in being eligible for the metabolic aspects, and none for the thermal analysis. All the studies were based on comparisons between conditions with and without exoskeletons and considered a total of 94 participants (mainly males) performing tasks involving the trunk or overhead work, 7 back-support exoskeletons, and 1 upper-limb support exoskeleton. Eight studies found a significant reduction in the mean values of the metabolic or cardiorespiratory parameters considered and one found no differences. CONCLUSIONS The reduction found represents a preliminary finding that needs to be confirmed in a wider range of conditions, especially in workplaces, where work tasks show different characteristics and durations compared to those simulated in the laboratory. Future developments should investigate the dependence of metabolic cost on specific UBE design approaches during tasks involving the trunk and the possible statistical correlation between the metabolic cost and the surface ElectroMyoGraphy (sEMG) parameters. Finally, it could be interesting to investigate the effect of exoskeletons on the human thermophysiological response.
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Affiliation(s)
- Simona Del Ferraro
- INAIL—Department of Occupational and Environmental Medicine, Epidemiology and Hygiene—Laboratory of Ergonomics and Physiology, via Fontana Candida 1, 00078 Monte Porzio Catone, Rome, Italy; (T.F.); (A.R.); (V.M.)
| | - Tiziana Falcone
- INAIL—Department of Occupational and Environmental Medicine, Epidemiology and Hygiene—Laboratory of Ergonomics and Physiology, via Fontana Candida 1, 00078 Monte Porzio Catone, Rome, Italy; (T.F.); (A.R.); (V.M.)
- Unit of Advanced Robotics and Human-Centred Technologies, Campus Bio-Medico University of Rome, 00128 Rome, Italy
| | - Alberto Ranavolo
- INAIL—Department of Occupational and Environmental Medicine, Epidemiology and Hygiene—Laboratory of Ergonomics and Physiology, via Fontana Candida 1, 00078 Monte Porzio Catone, Rome, Italy; (T.F.); (A.R.); (V.M.)
| | - Vincenzo Molinaro
- INAIL—Department of Occupational and Environmental Medicine, Epidemiology and Hygiene—Laboratory of Ergonomics and Physiology, via Fontana Candida 1, 00078 Monte Porzio Catone, Rome, Italy; (T.F.); (A.R.); (V.M.)
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