A Hip Active Assisted Exoskeleton That Assists the Semi-Squat Lifting
(1) Background: In the case of quick picking and heavy lifting, the carrying action results in a much more active myoelectric signal in the lower back than in an upright stationary one, and there is a high risk of back muscle injury without proper handling skills and equipment. (2) Methods: To reduc...
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| Format: | Article |
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MDPI AG
2020-04-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/7/2424 |
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| author | Wei Wei Shijia Zha Yuxuan Xia Jihua Gu Xichuan Lin |
| author_facet | Wei Wei Shijia Zha Yuxuan Xia Jihua Gu Xichuan Lin |
| author_sort | Wei Wei |
| collection | DOAJ |
| description | (1) Background: In the case of quick picking and heavy lifting, the carrying action results in a much more active myoelectric signal in the lower back than in an upright stationary one, and there is a high risk of back muscle injury without proper handling skills and equipment. (2) Methods: To reduce the risk of LBP during manual handing tasks, a hip active exoskeleton is designed to assist human manual lifting. A power control method is introduced into the control loop in the process of assisting human transportation. The power curve imitates the semi-squat movement of the human body as the output power of the hip joint. (3) Results: According to the test, the torque can be output according to the wearer’s movement. During the semi-squat lifting process, the EMG (electromyogram) signal of the vertical spine at L5/S1 was reduced by 30–48% and the metabolic cost of energy was reduced by 18% compared the situation of without EXO. (4) Conclusion: The exoskeleton joint output torque can change in an adaptive manner according to the angular velocity of the wearer’s joint. The exoskeleton can assist the waist muscles and the hip joint in the case of the reciprocating semi-squat lifting movement. |
| first_indexed | 2024-03-10T20:43:41Z |
| format | Article |
| id | doaj.art-37e537b016a145f6bed0ab1bc1c68e27 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T20:43:41Z |
| publishDate | 2020-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-37e537b016a145f6bed0ab1bc1c68e272023-11-19T20:29:29ZengMDPI AGApplied Sciences2076-34172020-04-01107242410.3390/app10072424A Hip Active Assisted Exoskeleton That Assists the Semi-Squat LiftingWei Wei0Shijia Zha1Yuxuan Xia2Jihua Gu3Xichuan Lin4College of Optoelectronics Science and Engineering, Soochow University, Suzhou 215000, ChinaCollege of Optoelectronics Science and Engineering, Soochow University, Suzhou 215000, ChinaCollege of Optoelectronics Science and Engineering, Soochow University, Suzhou 215000, ChinaCollege of Optoelectronics Science and Engineering, Soochow University, Suzhou 215000, ChinaMicro-Nano Automation Institute, Jiangsu Industrial Technology Research Institute, Suzhou 215131, China(1) Background: In the case of quick picking and heavy lifting, the carrying action results in a much more active myoelectric signal in the lower back than in an upright stationary one, and there is a high risk of back muscle injury without proper handling skills and equipment. (2) Methods: To reduce the risk of LBP during manual handing tasks, a hip active exoskeleton is designed to assist human manual lifting. A power control method is introduced into the control loop in the process of assisting human transportation. The power curve imitates the semi-squat movement of the human body as the output power of the hip joint. (3) Results: According to the test, the torque can be output according to the wearer’s movement. During the semi-squat lifting process, the EMG (electromyogram) signal of the vertical spine at L5/S1 was reduced by 30–48% and the metabolic cost of energy was reduced by 18% compared the situation of without EXO. (4) Conclusion: The exoskeleton joint output torque can change in an adaptive manner according to the angular velocity of the wearer’s joint. The exoskeleton can assist the waist muscles and the hip joint in the case of the reciprocating semi-squat lifting movement.https://www.mdpi.com/2076-3417/10/7/2424hip exoskeletonexoskeletonwaist assistancesemi-squat liftingmanual material handlingpersonification control |
| spellingShingle | Wei Wei Shijia Zha Yuxuan Xia Jihua Gu Xichuan Lin A Hip Active Assisted Exoskeleton That Assists the Semi-Squat Lifting Applied Sciences hip exoskeleton exoskeleton waist assistance semi-squat lifting manual material handling personification control |
| title | A Hip Active Assisted Exoskeleton That Assists the Semi-Squat Lifting |
| title_full | A Hip Active Assisted Exoskeleton That Assists the Semi-Squat Lifting |
| title_fullStr | A Hip Active Assisted Exoskeleton That Assists the Semi-Squat Lifting |
| title_full_unstemmed | A Hip Active Assisted Exoskeleton That Assists the Semi-Squat Lifting |
| title_short | A Hip Active Assisted Exoskeleton That Assists the Semi-Squat Lifting |
| title_sort | hip active assisted exoskeleton that assists the semi squat lifting |
| topic | hip exoskeleton exoskeleton waist assistance semi-squat lifting manual material handling personification control |
| url | https://www.mdpi.com/2076-3417/10/7/2424 |
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