Industrial active exoskeletons have recently achieved considerable interest, due to their intrinsic versatility compared to passive devices. To achieve this versatility, an important open challenge is the design of appropriate control strategies to automatically modulate the physical assistance according to the activity the user is performing.This work focuses on active back-support exoskeletons. To improve the assistance provided in dynamic situations with respect to state-of-the-art methods, a new strategy making use of the angular acceleration of the user's trunk is presented. The feasibility and effectiveness of the proposed strategy were tested experimentally on a prototype in a load handling task. The main advantages in terms of assistive torque profiles emerge during the transition phases of the movement (i.e. beginning and end of lowering and lifting) indicating an appropriate adaptation to the dynamics of the execution. In this preliminary evaluation, the data on peak muscular activity at the spine show promising trends, encouraging further developments and a more detailed evaluation.

Acceleration-based Assistive Strategy to Control a Back-support Exoskeleton for Load Handling: Preliminary Evaluation

Lazzaroni, Maria;Momi, Elena De;
2019-01-01

Abstract

Industrial active exoskeletons have recently achieved considerable interest, due to their intrinsic versatility compared to passive devices. To achieve this versatility, an important open challenge is the design of appropriate control strategies to automatically modulate the physical assistance according to the activity the user is performing.This work focuses on active back-support exoskeletons. To improve the assistance provided in dynamic situations with respect to state-of-the-art methods, a new strategy making use of the angular acceleration of the user's trunk is presented. The feasibility and effectiveness of the proposed strategy were tested experimentally on a prototype in a load handling task. The main advantages in terms of assistive torque profiles emerge during the transition phases of the movement (i.e. beginning and end of lowering and lifting) indicating an appropriate adaptation to the dynamics of the execution. In this preliminary evaluation, the data on peak muscular activity at the spine show promising trends, encouraging further developments and a more detailed evaluation.
2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)
978-1-7281-2755-2
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1099458
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