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Di Natali C, Buratti G, Dellera L, Caldwell D. Equivalent weight: Application of the assessment method on real task conducted by railway workers wearing a back support exoskeleton. APPLIED ERGONOMICS 2024; 118:104278. [PMID: 38626669 DOI: 10.1016/j.apergo.2024.104278] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/18/2023] [Revised: 03/21/2024] [Accepted: 03/23/2024] [Indexed: 04/18/2024]
Abstract
Commonly used risk indexes, such as the NIOSH Lifting Index, do not capture the effect of exoskeletons. This makes it difficult for Health and Safety professionals to rigorously assess the benefit of such devices. The community requires a simple method to assess the effectiveness of back-support exoskeleton's (BSE) in possibly reducing ergonomic risk. The method introduced in this work is termed "Equivalent Weight" (EqW) and it proposes an interpretation of the effect built on the benefit delivered through reduced activation of the erector spinae (ES). This manifests itself as an apparent reduction of the lifted load perceived by the wearer. This work presents a pilot study where a practical application of the EqW method is used to assess the ergonomic risk in manual material handling (MMH) when using a back support exoskeleton (StreamEXO). The results are assessed by combining observational measurements from on-site testing with five different workers and quantitative measures of the muscle activity reduction achieved during laboratory evaluation with ten workers. These results will show that when lifting, lowering, and carrying a 19 kg load the StreamEXO can reduce risk by up to two levels (from "high" to "low") in the target sub-tasks. The Lifting index (LI) was reduced up to 64% when examining specific sub-tasks and the worker's movement conduction.
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Affiliation(s)
- Christian Di Natali
- Dept of Advanced Robotics, Istituto Italiano di Tecnologia, Via S. Quirico, 19D, Genoa, 16163, Italy.
| | - Giorgio Buratti
- Scuola del Design, Politecnico di Milano, Via Giuseppe Candiani, 72, Milan, 20158, Italy; ErgoDesign S.a.s, Via Monte Pasubio, 5, Dalmine, BG, 24044, Italy
| | - Luca Dellera
- ErgoDesign S.a.s, Via Monte Pasubio, 5, Dalmine, BG, 24044, Italy
| | - Darwin Caldwell
- Dept of Advanced Robotics, Istituto Italiano di Tecnologia, Via S. Quirico, 19D, Genoa, 16163, Italy
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Chan YS, Teo YX, Gouwanda D, Nurzaman SG, Gopalai AA. Simulation of passive exotendon assistive device for agricultural harvesting task. Phys Eng Sci Med 2023; 46:1375-1386. [PMID: 37493930 DOI: 10.1007/s13246-023-01305-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/19/2023] [Accepted: 07/18/2023] [Indexed: 07/27/2023]
Abstract
This study proposes and investigates the feasibility of the passive assistive device to assist agricultural harvesting task and reduce the Musculoskeletal Disorder (MSD) risk of harvesters using computational musculoskeletal modelling and simulations. Several passive assistive devices comprised of elastic exotendon, which acts in parallel with different back muscles (rectus abdominis, longissimus, and iliocostalis), were designed and modelled. These passive assistive devices were integrated individually into the musculoskeletal model to provide passive support for the harvesting task. The muscle activation, muscle force, and joint moment were computed with biomechanical simulations for unassisted and assisted motions. The simulation results demonstrated that passive assistive devices reduced muscle activation, muscle force, and joint moment, particularly when the devices were attached to the iliocostalis and rectus abdominis. It was also discovered that assisting the longissimus muscle can alleviate the workload by distributing a portion of it to the rectus abdominis. The findings in this study support the feasibility of adopting passive assistive devices to reduce the MSD risk of the harvesters during agricultural harvesting. These findings can provide valuable insights to the engineers and designers of physical assistive devices on which muscle(s) to assist during agricultural harvesting.
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Affiliation(s)
- Yon Sin Chan
- School of Engineering, Monash University Malaysia, Subang Jaya, Selangor, Malaysia
| | - Yu Xuan Teo
- School of Engineering, Monash University Malaysia, Subang Jaya, Selangor, Malaysia
| | - Darwin Gouwanda
- School of Engineering, Monash University Malaysia & Monash Industry Palm Oil Research Platform, Jalan Lagoon Selatan, Bandar Sunway, 47500 , Subang Jaya, Selangor, Malaysia.
| | - Surya Girinatha Nurzaman
- School of Engineering, Monash University Malaysia & Monash Industry Palm Oil Research Platform, Jalan Lagoon Selatan, Bandar Sunway, 47500 , Subang Jaya, Selangor, Malaysia
| | - Alpha Agape Gopalai
- School of Engineering, Monash University Malaysia & Monash Industry Palm Oil Research Platform, Jalan Lagoon Selatan, Bandar Sunway, 47500 , Subang Jaya, Selangor, Malaysia
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Reimeir B, Calisti M, Mittermeier R, Ralfs L, Weidner R. Effects of back-support exoskeletons with different functional mechanisms on trunk muscle activity and kinematics. WEARABLE TECHNOLOGIES 2023; 4:e12. [PMID: 38487765 PMCID: PMC10936326 DOI: 10.1017/wtc.2023.5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/01/2022] [Revised: 11/25/2022] [Accepted: 02/05/2023] [Indexed: 03/17/2024]
Abstract
Musculoskeletal disorders constitute the leading work-related health issue. Mechanical loading of the lower back contributes as a major risk factor and is prevalent in many tasks performed in logistics. The study aimed to compare acute effects of exoskeletons with different functional mechanisms in a logistic task. Twelve young, healthy individuals participated in the study. Five exoskeletons with different functional mechanisms were tested in a logistic task, consisting of lifting, carrying, and lowering a 13 kg box. By using electromyography (EMG), mean muscle activities of four muscles in the trunk were analyzed. Additionally, kinematics by task completion time and range of motion (RoM) of the major joints and segments were investigated. A main effect was found for Musculus erector spinae, Musculus multifidus, and Musculus latissimus dorsi showing differences in muscle activity reductions between exoskeletons. Reduction in ES mean activity compared to baseline was primarily during lifting from ground level. The exoskeletons SoftExo Lift and Cray X also showed ES mean reduction during lowering the box. Prolonged task duration during the lifting phase was found for the exoskeletons BionicBack, SoftExo Lift, and Japet.W. Japet.W showed a trend in reducing hip RoM during that phase. SoftExo Lift caused a reduction in trunk flexion during the lifting phase. A stronger trunk inclination was only found during lifting from the table for the SoftExo Lift and the Cray X. In conclusion, muscle activity reductions by exoskeleton use should not be assessed without taking their designed force paths into account to correctly interpret the effects for long-term injury prevention.
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Affiliation(s)
- Benjamin Reimeir
- Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
- Department of Sport Science, University of Innsbruck, Innsbruck, Austria
| | - Maité Calisti
- Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
- Department of Sport Science, University of Innsbruck, Innsbruck, Austria
| | - Ronja Mittermeier
- Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
- Department of Sport Science, University of Innsbruck, Innsbruck, Austria
| | - Lennart Ralfs
- Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
| | - Robert Weidner
- Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
- Laboratory of Manufacturing Technology, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Hamburg, Germany
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Liang J, Zhang Q, Liu Y, Wang T, Wan G. A review of the design of load-carrying exoskeletons. SCIENCE CHINA. TECHNOLOGICAL SCIENCES 2022; 65:2051-2067. [PMID: 36032505 PMCID: PMC9392988 DOI: 10.1007/s11431-022-2145-x] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/11/2022] [Accepted: 07/07/2022] [Indexed: 06/15/2023]
Abstract
The increasing necessity of load-carrying activities has led to greater human musculoskeletal damage and an increased metabolic cost. With the rise of exoskeleton technology, researchers have begun exploring different approaches to developing wearable robots to augment human load-carrying ability. However, there is a lack of systematic discussion on biomechanics, mechanical designs, and augmentation performance. To achieve this, extensive studies have been reviewed and 108 references are selected mainly from 2013 to 2022 to address the most recent development. Other earlier 20 studies are selected to present the origin of different design principles. In terms of the way to achieve load-carrying augmentation, the exoskeletons reviewed in this paper are sorted by four categories based on the design principles, namely load-suspended backpacks, lower-limb exoskeletons providing joint torques, exoskeletons transferring load to the ground and exoskeletons transferring load between body segments. Specifically, the driving modes of active and passive, the structure of rigid and flexible, the conflict between assistive performance and the mass penalty of the exoskeleton, and the autonomy are discussed in detail in each section to illustrate the advances, challenges, and future trends of exoskeletons designed to carry loads.
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Affiliation(s)
- JieJunYi Liang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074 China
| | - QinHao Zhang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074 China
| | - Yang Liu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074 China
| | - Tao Wang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074 China
| | - GuangFu Wan
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074 China
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Proud JK, Lai DTH, Mudie KL, Carstairs GL, Billing DC, Garofolini A, Begg RK. Exoskeleton Application to Military Manual Handling Tasks. HUMAN FACTORS 2022; 64:527-554. [PMID: 33203237 DOI: 10.1177/0018720820957467] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
OBJECTIVE The aim of this review was to determine how exoskeletons could assist Australian Defence Force personnel with manual handling tasks. BACKGROUND Musculoskeletal injuries due to manual handling are physically damaging to personnel and financially costly to the Australian Defence Force. Exoskeletons may minimize injury risk by supporting, augmenting, and/or amplifying the user's physical abilities. Exoskeletons are therefore of interest in determining how they could support the unique needs of military manual handling personnel. METHOD Industrial and military exoskeleton studies from 1990 to 2019 were identified in the literature. This included 67 unique exoskeletons, for which Information about their current state of development was tabulated. RESULTS Exoskeleton support of manual handling tasks is largely through squat/deadlift (lower limb) systems (64%), with the proposed use case for these being load carrying (42%) and 78% of exoskeletons being active. Human-exoskeleton analysis was the most prevalent form of evaluation (68%) with reported reductions in back muscle activation of 15%-54%. CONCLUSION The high frequency of citations of exoskeletons targeting load carrying reflects the need for devices that can support manual handling workers. Exoskeleton evaluation procedures varied across studies making comparisons difficult. The unique considerations for military applications, such as heavy external loads and load asymmetry, suggest that a significant adaptation to current technology or customized military-specific devices would be required for the introduction of exoskeletons into a military setting. APPLICATION Exoskeletons in the literature and their potential to be adapted for application to military manual handling tasks are presented.
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Affiliation(s)
| | | | - Kurt L Mudie
- 2222 Defence Science and Technology (DST), Melbourne, Australia
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Hoffmann N, Prokop G, Weidner R. Methodologies for evaluating exoskeletons with industrial applications. ERGONOMICS 2022; 65:276-295. [PMID: 34415823 DOI: 10.1080/00140139.2021.1970823] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/18/2021] [Accepted: 08/12/2021] [Indexed: 06/13/2023]
Abstract
Industrial exoskeletons are globally developed, explored, and increasingly implemented in industrial workplaces. Multiple technical, physical, and psychological aspects should be assessed prior to their daily application in various occupational environments. The methodology for evaluating these aspects is not standardised and differs in terms of focussed research objectives, used types of analyses, applied testing procedures, and use cases. The aim of this paper is to provide a matrix comparing the prevalence of different types of analyses combined with their respective research objective(s). A systematic review in the database 'Web of Science' identified 74 studies, mainly in laboratory settings, with a focus on short-term effects as well as with male-dominated samples being low representative for industrial workforces. The conducted evaluation methodologies are further discussed and compared in terms of testing procedure, sample, and research objectives. Finally, relevant aspects for prospectively evaluating industrial exoskeletons in a more harmonised and comprehensive way are suggested. Practitioner summary: Industrial exoskeletons are still inconsistently and insufficiently evaluated in scientific studies, which might hamper the comparability of systems, threaten the human health, and block an iterative system optimisation. Thus, a comprehensive evaluation methodology is needed with harmonised and multicriteria types of analyses.
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Affiliation(s)
- Niclas Hoffmann
- Department of Production Technologies, Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
- Laboratory of Manufacturing Technology, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Hamburg, Germany
| | - Gilbert Prokop
- Department of Production Technologies, Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
| | - Robert Weidner
- Department of Production Technologies, Institute of Mechatronics, University of Innsbruck, Innsbruck, Austria
- Laboratory of Manufacturing Technology, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Hamburg, Germany
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Ali A, Fontanari V, Schmoelz W, Agrawal SK. Systematic Review of Back-Support Exoskeletons and Soft Robotic Suits. Front Bioeng Biotechnol 2021; 9:765257. [PMID: 34805118 PMCID: PMC8603112 DOI: 10.3389/fbioe.2021.765257] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/26/2021] [Accepted: 10/12/2021] [Indexed: 11/23/2022] Open
Abstract
Lower back pain and musculoskeletal injuries are serious concerns for workers subjected to physical workload and manual material handling tasks. Spine assistive exoskeletons are being developed to support the spine and distribute the spine load. This article presents a detailed up-to-date review on the back support exoskeletons by discussing their type (Active/Passive), structure (Rigid/Soft), power transmission methods, weight, maximum assistive force, battery technologies, tasks (lifting, bending, stooping work), kinematic compatibility and other important features. This article also assesses the back support exoskeletons in terms of their ability to reduce the physical load on the spine. By reviewing functional and structural characteristics, the goal is to increase communication and realization among ergonomics practitioners, developers, customers, and factory workers. The search resulted in reviewing 34 exoskeletons of which 16 were passive and 18 were active. In conclusion, back support exoskeletons have immense potential to significantly reduce the factors regarding work-related musculoskeletal injuries. However, various technical challenges and a lack of established safety standards limit the wide adaptation of exoskeletons in industry.
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Affiliation(s)
- Athar Ali
- Department of Industrial Engineering, University of Trento, Trento, Italy
| | - Vigilio Fontanari
- Department of Industrial Engineering, University of Trento, Trento, Italy
| | - Werner Schmoelz
- Department of Orthopedics and Traumatology, Medical University of Innsbruck, Innsbruck, Austria
| | - Sunil K Agrawal
- Robotics and Rehabilitation (ROAR) Laboratory, Department of Mechanical Engineering, Columbia University, New York, NY, United States
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Schwartz M, Theurel J, Desbrosses K. Effectiveness of Soft versus Rigid Back-Support Exoskeletons during a Lifting Task. INTERNATIONAL JOURNAL OF ENVIRONMENTAL RESEARCH AND PUBLIC HEALTH 2021; 18:ijerph18158062. [PMID: 34360352 PMCID: PMC8345799 DOI: 10.3390/ijerph18158062] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/24/2021] [Revised: 07/21/2021] [Accepted: 07/27/2021] [Indexed: 01/27/2023]
Abstract
This study investigated the influence of passive back-support exoskeletons (EXOBK) design, trunk sagittal inclination (TSI), and gender on the effectiveness of an exoskeleton to limit erector spinae muscle (ES) activation during a sagittal lifting/lowering task. Twenty-nine volunteers performed an experimental dynamic task with two exoskeletons (two different designs: soft (SUIT) and rigid (SKEL)), and without equipment (FREE). The ES activity was analyzed for eight parts of TSI, each corresponding to 25% of the range of motion (lifting: P1 to P4; lowering: P5 to P8). The impact of EXOBK on ES activity depended on the interaction between exoskeleton design and TSI. With SKEL, ES muscle activity significantly increased for P8 (+36.8%) and tended to decrease for P3 (−7.2%, p = 0.06), compared to FREE. SUIT resulted in lower ES muscle activity for P2 (−9.6%), P3 (−8.7%, p = 0.06), and P7 (−11.1%), in comparison with FREE. Gender did not influence the effect of either back-support exoskeletons on ES muscle activity. These results point to the need for particular attention with regard to (1) exoskeleton design (rigid versus soft) and to (2) the range of trunk motion, when selecting an EXOBK. In practice, the choice of a passive back-support exoskeleton, between rigid and soft design, requires an evaluation of human-exoskeleton interaction in real task conditions. The characterization of trunk kinematics and ranges of motion appears essential to identify the benefits and the negative effects to take into account with each exoskeleton design.
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Affiliation(s)
- Mathilde Schwartz
- Working Life Department, French National Research and Safety Institute for the Prevention of Occupational Accidents and Diseases (INRS), 54500 Vandœuvre-les-Nancy, France; (M.S.); (J.T.)
- Développement, Adaptation & Handicap (DevAH), University of Lorraine, 54000 Nancy, France
| | - Jean Theurel
- Working Life Department, French National Research and Safety Institute for the Prevention of Occupational Accidents and Diseases (INRS), 54500 Vandœuvre-les-Nancy, France; (M.S.); (J.T.)
| | - Kévin Desbrosses
- Working Life Department, French National Research and Safety Institute for the Prevention of Occupational Accidents and Diseases (INRS), 54500 Vandœuvre-les-Nancy, France; (M.S.); (J.T.)
- Correspondence: ; Tel.: +33-38-350-9893
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Towards a Functional Performance Validation Standard for Industrial Low-Back Exoskeletons: State of the Art Review. SENSORS 2021; 21:s21030808. [PMID: 33530377 PMCID: PMC7865790 DOI: 10.3390/s21030808] [Citation(s) in RCA: 19] [Impact Index Per Article: 6.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/23/2020] [Revised: 01/20/2021] [Accepted: 01/21/2021] [Indexed: 12/26/2022]
Abstract
While the research interest for exoskeletons has been rising in the last decades, missing standards for their rigorous evaluation are potentially limiting their adoption in the industrial field. In this context, exoskeletons for worker support have the aim to reduce the physical effort required by humans, with dramatic social and economic impact. Indeed, exoskeletons can reduce the occurrence and the entity of work-related musculoskeletal disorders that often cause absence from work, resulting in an eventual productivity loss. This very urgent and multifaceted issue is starting to be acknowledged by researchers. This article provides a systematic review of the state of the art for functional performance evaluation of low-back exoskeletons for industrial workers. We report the state-of-the-art evaluation criteria and metrics used for such a purpose, highlighting the lack of a standard for this practice. Very few studies carried out a rigorous evaluation of the assistance provided by the device. To address also this topic, the article ends with a proposed framework for the functional validation of low-back exoskeletons for the industry, with the aim to pave the way for the definition of rigorous industrial standards.
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Mak SKD, Accoto D. Review of Current Spinal Robotic Orthoses. Healthcare (Basel) 2021; 9:70. [PMID: 33451142 PMCID: PMC7828606 DOI: 10.3390/healthcare9010070] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/23/2020] [Revised: 12/30/2020] [Accepted: 01/08/2021] [Indexed: 12/03/2022] Open
Abstract
Osteoporotic spine fractures (OSF) are common sequelae of osteoporosis. OSF are directly correlated with increasing age and incidence of osteoporosis. OSF are treated conservatively or surgically. Associated acute pain, chronic disabilities, and progressive deformities are well documented. Conservative measures include a combination of initial bed rest, analgesia, early physiotherapy, and a spinal brace (orthosis), with the aim for early rehabilitation to prevent complications of immobile state. Spinal bracing is commonly used for symptomatic management of OSF. While traditional spinal braces aim to maintain the neutral spinal alignment and reduce the axial loading on the fractured vertebrae, they are well known for complications including discomfort with reduced compliance, atrophy of paraspinal muscles, and restriction of chest expansion leading to chest infections. Exoskeletons have been developed to passively assist and actively augment human movements with different types of actuators. Flexible, versatile spinal exoskeletons are designed to better support the spine. As new technologies enable the development of motorized wearable exoskeletons, several types have been introduced into the medical field application. We have provided a thorough review of the current spinal robotic technologies in this paper. The shortcomings in the current spinal exoskeletons were identified. Their limitations on the use for patients with OSF with potential improvement strategies were discussed. With our current knowledge of spinal orthosis for conservatively managed OSF, a semi-rigid backpack style thoracolumbar spinal robotic orthosis will reduce spinal bone stress and improve back muscle support. This will lead to back pain reduction, improved posture, and overall mobility. Early mobilization is an important part of management of patients with OSF as it reduces the chance of developing complications related to their immobile state for patients with OSF, which will be helpful for their recovery.
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Affiliation(s)
- Siu Kei David Mak
- Department of Neurosurgery, National Neuroscience Institute, Singapore 308433, Singapore
| | - Dino Accoto
- School of Mechanical & Aerospace Engineering, Nanyang Technological University, Nanyang, Singapore 639798, Singapore;
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Del Ferraro S, Falcone T, Ranavolo A, Molinaro V. The Effects of Upper-Body Exoskeletons on Human Metabolic Cost and Thermal Response during Work Tasks-A Systematic Review. INTERNATIONAL JOURNAL OF ENVIRONMENTAL RESEARCH AND PUBLIC HEALTH 2020; 17:E7374. [PMID: 33050273 PMCID: PMC7600262 DOI: 10.3390/ijerph17207374] [Citation(s) in RCA: 21] [Impact Index Per Article: 5.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/12/2020] [Revised: 10/01/2020] [Accepted: 10/04/2020] [Indexed: 12/12/2022]
Abstract
BACKGROUND New wearable assistive devices (exoskeletons) have been developed for assisting people during work activity or rehabilitation. Although exoskeletons have been introduced into different occupational fields in an attempt to reduce the risk of work-related musculoskeletal disorders, the effectiveness of their use in workplaces still needs to be investigated. This systematic review focused on the effects of upper-body exoskeletons (UBEs) on human metabolic cost and thermophysiological response during upper-body work tasks. METHODS articles published until 22 September 2020 were selected from Scopus, Web of Science, and PubMed for eligibility and the potential risk of bias was assessed. RESULTS Nine articles resulted in being eligible for the metabolic aspects, and none for the thermal analysis. All the studies were based on comparisons between conditions with and without exoskeletons and considered a total of 94 participants (mainly males) performing tasks involving the trunk or overhead work, 7 back-support exoskeletons, and 1 upper-limb support exoskeleton. Eight studies found a significant reduction in the mean values of the metabolic or cardiorespiratory parameters considered and one found no differences. CONCLUSIONS The reduction found represents a preliminary finding that needs to be confirmed in a wider range of conditions, especially in workplaces, where work tasks show different characteristics and durations compared to those simulated in the laboratory. Future developments should investigate the dependence of metabolic cost on specific UBE design approaches during tasks involving the trunk and the possible statistical correlation between the metabolic cost and the surface ElectroMyoGraphy (sEMG) parameters. Finally, it could be interesting to investigate the effect of exoskeletons on the human thermophysiological response.
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Affiliation(s)
- Simona Del Ferraro
- INAIL—Department of Occupational and Environmental Medicine, Epidemiology and Hygiene—Laboratory of Ergonomics and Physiology, via Fontana Candida 1, 00078 Monte Porzio Catone, Rome, Italy; (T.F.); (A.R.); (V.M.)
| | - Tiziana Falcone
- INAIL—Department of Occupational and Environmental Medicine, Epidemiology and Hygiene—Laboratory of Ergonomics and Physiology, via Fontana Candida 1, 00078 Monte Porzio Catone, Rome, Italy; (T.F.); (A.R.); (V.M.)
- Unit of Advanced Robotics and Human-Centred Technologies, Campus Bio-Medico University of Rome, 00128 Rome, Italy
| | - Alberto Ranavolo
- INAIL—Department of Occupational and Environmental Medicine, Epidemiology and Hygiene—Laboratory of Ergonomics and Physiology, via Fontana Candida 1, 00078 Monte Porzio Catone, Rome, Italy; (T.F.); (A.R.); (V.M.)
| | - Vincenzo Molinaro
- INAIL—Department of Occupational and Environmental Medicine, Epidemiology and Hygiene—Laboratory of Ergonomics and Physiology, via Fontana Candida 1, 00078 Monte Porzio Catone, Rome, Italy; (T.F.); (A.R.); (V.M.)
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Ataei G, Abedi R, Mohammadi Y, Fatouraee N. Analysing the effect of wearable lift-assist vest in squat lifting task using back muscle EMG data and musculoskeletal model. Phys Eng Sci Med 2020; 43:651-658. [PMID: 32524453 DOI: 10.1007/s13246-020-00872-5] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/11/2019] [Accepted: 04/17/2020] [Indexed: 12/17/2022]
Abstract
The most common disorders of the musculoskeletal system are low back disorders. They cause significant direct and indirect costs to different societies especially in lifting occupations. To reduce the risk of low back disorders, mechanical lifting aids have been used to decrease low back muscle forces. But there are very few direct ways to calculate muscle forces and examine the effect of personal lift-assist devices, so biomechanical models ought to be used to examine the quality of these devices for assisting back muscles in lifting tasks. The purpose of this study is to examine the effect of a designed wearable lift-assist vest (WLAV) in the reduction of erector spinae muscle forces during symmetric squat lifting tasks. Two techniques of muscle calculation were used, the electromyography-based method and the optimization-based model. The first uses electromyography data of erector spinae muscles and its linear relationship with muscle force to estimate their forces, and the second uses a developed musculoskeletal model to calculate back muscle forces using an optimization-based method. The results show that these techniques reduce the average value of erector spinae muscle forces by 45.38 (± 4.80) % and 42.03 (± 8.24) % respectively. Also, both methods indicated approximately the same behaviour in changing muscle forces during 10 to 60 degrees of trunk flexion using WLAV. The use of WLAV can help to reduce the activity of low back muscles in lifting tasks by transferring the external load effect to the assistive spring system utilized in it, so this device may help people lift for longer.
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Affiliation(s)
- Gholamreza Ataei
- Department of Radiology Technology, Faculty of Paramedical Sciences, Babol University of Medical Sciences, Babol, Iran
| | - Rasoul Abedi
- Department of Biomedical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran
| | - Yousef Mohammadi
- Department of Biomedical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran
| | - Nasser Fatouraee
- Department of Biomedical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran.
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Theurel J, Desbrosses K. Occupational Exoskeletons: Overview of Their Benefits and Limitations in Preventing Work-Related Musculoskeletal Disorders. IISE Trans Occup Ergon Hum Factors 2019. [DOI: 10.1080/24725838.2019.1638331] [Citation(s) in RCA: 17] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 01/03/2023]
Affiliation(s)
- Jean Theurel
- Department of Working Life, Institut National de Recherche et de Sécurité (INRS), Vandoeuvre les Nancy, France
| | - Kevin Desbrosses
- Department of Working Life, Institut National de Recherche et de Sécurité (INRS), Vandoeuvre les Nancy, France
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Näf MB, Koopman AS, Baltrusch S, Rodriguez-Guerrero C, Vanderborght B, Lefeber D. Passive Back Support Exoskeleton Improves Range of Motion Using Flexible Beams. Front Robot AI 2018; 5:72. [PMID: 33500951 PMCID: PMC7805753 DOI: 10.3389/frobt.2018.00072] [Citation(s) in RCA: 82] [Impact Index Per Article: 13.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/24/2018] [Accepted: 05/31/2018] [Indexed: 11/21/2022] Open
Abstract
In the EU, lower back pain affects more than 40% of the working population. Mechanical loading of the lower back has been shown to be an important risk factor. Peak mechanical load can be reduced by ergonomic interventions, the use of cranes and, more recently, by the use of exoskeletons. Despite recent advances in the development of exoskeletons for industrial applications, they are not widely adopted by industry yet. Some of the challenges, which have to be overcome are a reduced range of motion, misalignment between the human anatomy and kinematics of the exoskeleton as well as discomfort. A body of research exists on how an exoskeleton can be designed to compensate for misalignment and thereby improve comfort. However, how to design an exoskeleton that achieves a similar range of motion as a human lumbar spine of up to 60° in the sagittal plane, has not been extensively investigated. We addressed this need by developing and testing a novel passive back support exoskeleton, including a mechanism comprised of flexible beams, which run in parallel to the spine, providing a large range of motion and lowering the peak torque requirements around the lumbo-sacral (L5/S1) joint. Furthermore, we ran a pilot study to test the biomechanical (N = 2) and functional (N = 3) impact on subjects while wearing the exoskeleton. The biomechanical testing was once performed with flexible beams as a back interface and once with a rigid structure. An increase of more than 25% range of motion of the trunk in the sagittal plane was observed by using the flexible beams. The pilot functional tests, which are compared to results from a previous study with the Laevo device, suggest, that the novel exoskeleton is perceived as less hindering in almost all tested tasks.
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Affiliation(s)
- Matthias B. Näf
- Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Axel S. Koopman
- Amsterdam Movement Sciences, Department of Human Movement Sciences, Faculty of Behavioural and Movement Sciences, Vrije Universiteit Amsterdam, Amsterdam, Netherlands
| | - Saskia Baltrusch
- Amsterdam Movement Sciences, Department of Human Movement Sciences, Faculty of Behavioural and Movement Sciences, Vrije Universiteit Amsterdam, Amsterdam, Netherlands
- Research and Development, Rehabilitation Centre Heliomare, Wijk aan Zee, Netherlands
| | - Carlos Rodriguez-Guerrero
- Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Bram Vanderborght
- Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Dirk Lefeber
- Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
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15
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Zhang H, Agrawal SK. An Active Neck Brace Controlled by a Joystick to Assist Head Motion. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2017.2728858] [Citation(s) in RCA: 19] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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16
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Kadrolkar A, Sup FC. Intent recognition of torso motion using wavelet transform feature extraction and linear discriminant analysis ensemble classification. Biomed Signal Process Control 2017. [DOI: 10.1016/j.bspc.2017.06.010] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
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