Method, Design, and Evaluation of an Exoskeleton for Lifting a Load In Situ.

Applied Bionics and Biomechanics
Xin LiQiang Li

Abstract

Due to the unclear application scenarios and force analysis of exoskeletons, there exists a research gap in exoskeleton design. This paper presents a design method and realization of an exoskeleton for a specific scenario of lifting a load in situ. Firstly, the lifting motion process and its data were collected based on a 3-D motion capture system and dynamometer treadmill system. Then, the variations of the torque and motion of each joint were obtained from the data analysis, based on which an active assistance mode for upper limbs and a passive assistance mode for lower limbs were demonstrated. In this design, the hydraulic cylinder for shoulder assistance, the motor for elbow assistance, and the spring for lower limb assistance were calculated and selected according to the motion and torque of each joint. Finally, subjective and objective methods were used to evaluate the exoskeleton based on the results of five test participants, and the median oxygen consumption of the whole test by lifting a load ten times with the assistance was found to be reduced by 9.45% as compared with that in the absence of the exoskeleton.

References

Jan 24, 2007·Journal of Biomechanics·Katherine R S HolzbaurScott L Delp
Aug 18, 2018·Applied Bionics and Biomechanics·Wei WeiFuchun Hao
Sep 21, 2018·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Zachary F LernerAndrea T Lerner
Dec 5, 2018·Applied Ergonomics·Michael T PicchiottiWilliam S Marras
Dec 6, 2018·Journal of Biomechanics·Axel S KoopmanJaap H van Dieën
Oct 4, 2019·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Pauline MauriceLars Fritzsche

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