Journal
JOURNAL OF BIOMECHANICS
Volume 145, Issue -, Pages -Publisher
ELSEVIER SCI LTD
DOI: 10.1016/j.jbiomech.2022.111363
Keywords
Biomechanics; Musculoskeletal modeling; Stiffness; Wearable technology
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Industrial exoskeletons are a promising ergonomic intervention to reduce the risk of work-related musculo-skeletal disorders by providing external physical support to workers. This study introduced a novel approach using a computerized dynamometer to quantify the assistive torque profiles of two passive back-support exoskeletons, revealing clear differences between the devices in different support settings and conditions.
Industrial exoskeletons are a promising ergonomic intervention to reduce the risk of work-related musculo-skeletal disorders by providing external physical support to workers. Passive exoskeletons, having no power supplies, are of particular interest given their predominance in the commercial market. Understanding the mechanical behavior of the torque generation mechanisms embedded in passive exoskeletons is, however, essential to determine the efficacy of these devices in reducing physical loads (e.g., in manual material handling tasks). We introduce a novel approach using a computerized dynamometer to quantify the assistive torque profiles of two passive back-support exoskeletons (BSEs) at different support settings and in both static and dynamic conditions. The feasibility of this approach was examined using both human subjects and a mannequin. Clear differences in assistive torque magnitudes were evident between the two BSEs, and both devices generated more assistive torques during trunk/hip flexion than extension. Assistive torques obtained from human subjects were often within similar ranges as those from the mannequin, though values were more comparable over a narrow range of flexion/extension angles due to practical limitations with the dynamometer and human subjects. Characterizing exoskeleton assistive torque profiles can help in better understanding how to select a torque profile for given task requirements and user anthropometry, and aid in predicting the potential impacts of exoskeleton use by incorporating measured torque profiles in a musculoskeletal modeling system. Future work is recommended to assess this approach for other occupational exoskeletons.
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