Kinematic and kinetic functional requirements for industrial exoskeletons for lifting tasks and overhead lifting

Abstract

The aim of this study was to sample human kinematics and kinetics during simulated tasks to aid the design of industrial exoskeletons. Twelve participants performed two dynamic tasks; a simulated lifting task and an overhead lifting task. Based on the current data, to completely assist a worker with lifting loads up to 15kg, hip actuators would need to supply up to 111Nm of extensor torque at speeds up to 139°/s of extension velocity and 26°/s of flexion velocity.The actuators should allow the hip to extend to 11° and flex to 95°, and supply a power of 212W. To completely assist workers lifting a 3kg load overhead, actuators assisting shoulder flexion would need to supply up to 20Nm of flexor torque at speeds up to 21°/s of extension velocity and 116°/s of flexion velocity. The actuators should also allow 67° of shoulder flexion and supply a power of 27W. Highlights This study sampled joint kinematic and kinetic activity to inform design of industrial exoskeletons. The study presents sample values to two types of common industrial tasks across the major joints as are often assisted. We also indicate considerations on which joints should be considered to be actively assisted.

Design and Evaluation of a Passive Cable-Driven Occupational Shoulder Exoskeleton

“…However, simplicity comes at the cost of reduced mobility and partial misalignment compensation, resulting in high shear forces on the users' skin and discomfort [10]. On the other hand, complex kinematic structures, developed to mimic the complex movement of the shoulder joint [11], have underperformed because of their increased complexity, additional weight and size [12].…”

Conceptual design and virtual prototyping of a wearable upper limb exoskeleton for assisted operations

“…Slow movements fall into the static balancing and leave the designer free to select either active or passive systems, whereas rapid movements are most likely to be assisted via a motorized solution. For industrial-oriented exoskeletons, an interesting study showing the priority joints for active assistance to prevent back and shoulder injuries can be found in [56]. -Balancing accuracy-While passive exoskeleton are usually constrained to a specific set of target tasks, the active balancing can be achieved for a broad range of movements by means of the sensory feedback and a rapid control action [57].…”

Methodology for a Task-Specific and Personalised Development of an Initial Exoskeleton Design

“…The former can be achieved by motion capture devices that are widely used in different industries. In recent exoskeleton developments optical motion capture using camera systems and markers on the workers' body is an utilised method (Huysamen et al, 2020;Hansen et al, 2018). A helpful tool for the latter is the design of personas to better understands the users' needs (Nielsen, 2013).…”