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首页> 外文期刊>International Journal of Industrial Ergonomics >Design methodology of an active back-support exoskeleton with adaptable backbone-based kinematics
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Design methodology of an active back-support exoskeleton with adaptable backbone-based kinematics

机译：具有适应性骨干基运动学的活性背部支持外骨骼的设计方法

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摘要

Manual labor is still strongly present in many industrial contexts (such as aerospace industry). Such operations commonly involve onerous tasks requiring to work in non-ergonomic conditions and to manipulate heavy parts. As a result, work-related musculoskeletal disorders are a major problem to tackle in workplace. In particular, back is one of the most affected regions. To solve such issue, many efforts have been made in the design and control of exoskeleton devices, relieving the human from the task load. Besides upper limbs and lower limbs exoskeletons, back-support exoskeletons have been also investigated, proposing both passive and active solutions. While passive solutions cannot empower the human's capabilities, common active devices are rigid, without the possibility to track the human's spine kinematics while executing the task. The here proposed paper describes a methodology to design an active back-support exoskeleton with backbone-based kinematics. On the basis of the (easily implementable) scissor hinge mechanism, a one-degree of freedom device has been designed. In particular, the resulting device allows tracking the motion of a reference vertebra, i.e., the vertebrae in the correspondence of the connection between the scissor hinge mechanism and the back of the operator. Therefore, the proposed device is capable to adapt to the human posture, guaranteeing the support while relieving the person from the task load. In addition, the proposed mechanism can be easily optimized and realized for different subjects, involving a subject-based design procedure, making possible to adapt its kinematics to track the spine motion of the specific user. A prototype of the proposed device has been 3D-printed to show the achieved kinematics. Preliminary tests for discomfort evaluation show the potential of the proposed methodology, foreseeing extensive subjects-based optimization, realization and testing of the device.
机译：在许多工业背景（例如航空航天工业）中，体力劳动仍然强烈存在。这些操作通常涉及需要在非符合人体工程学条件下工作并操纵重物的繁重任务。结果，与工作相关的肌肉骨骼障碍是在工作场所解决的主要问题。特别是，回来是受影响最大的地区之一。为解决此类问题，在开关设备的设计和控制方面取得了许多努力，从任务负载中解除了人。除了上肢和下肢外骨骼之外，还研究了后支撑外骨骼，提出了无源和活性溶液。虽然被动解决方案不能授权人类的能力，但普通的有源器件是刚性的，而且在执行任务时不可能跟踪人类脊柱运动学的可能性。这里提出的论文描述了一种用骨干基运动学设计活性背部支持外骨骼的方法。在（易于可实现的）剪刀铰链机构的基础上，设计了一定程度的自由装置。特别地，所得到的装置允许跟踪参考椎骨的运动，即椎骨在剪刀铰链机构和操作者的背面之间的连接的对应关系中。因此，所提出的设备能够适应人类姿势，保证支持从任务负载中的人员的支持。此外，该提出的机制可以容易地优化和实现不同的受试者，涉及基于主题的设计过程，使得可以使其运动学适应特定用户的脊柱运动。所提出的装置的原型已经3D打印以显示实现的运动学。不适评估的初步测试显示了所提出的方法的潜力，预见了广泛的基于主题的优化，实现和测试。

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    Roveda Loris; Savani Luca; Arlati Sara; Dinon Tito; Legnani Giovanni; Tosatti Lorenzo Molinari;

  • 作者单位

    Univ Svizzera Italiana USI IDSIA SUPSI Scuola Univ Profess Svizzera Italiana SUPSI Ist Dalle Molle Studi Intelligenza Artificiale ID Manno Switzerland;

    Univ Brescia Dept Mech &

    Ind Engn Brescia Italy;

    Consiglio Nazl Ric CNR Ist Sistemi &

    Tecnol Ind Manifatturiero Avanzato Manno Italy;

    Consiglio Nazl Ric CNR Ist Sistemi &

    Tecnol Ind Manifatturiero Avanzato Manno Italy;

    Univ Brescia Dept Mech &

    Ind Engn Brescia Italy;

    Consiglio Nazl Ric CNR Ist Sistemi &

    Tecnol Ind Manifatturiero Avanzato Manno Italy;

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  • 中图分类 自动化系统理论;
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