Model-Based Comparison of Passive and Active Assistance Designs in an Occupational Upper Limb Exoskeleton for Overhead Lifting

Document Type

Article

Publication Date

1-1-2021

Abstract

OCCUPATIONAL APPLICATIONS: In 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.

Identifier

85111445333 (Scopus)

Publication Title

Iise Transactions on Occupational Ergonomics and Human Factors

External Full Text Location

https://doi.org/10.1080/24725838.2021.1954565

e-ISSN

24725846

ISSN

24725838

PubMed ID

34254566

First Page

167

Last Page

185

Issue

3-4

Volume

9

Fund Ref

Centers for Disease Control and Prevention

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