Industrial Upper-Limb Exoskeleton Characterization: Paving the Way to New Standards for Benchmarking
Exoskeletons have been introduced in industrial environments to prevent overload or repetitive stress injuries in workers. However, due to the lack of public detailed information about most of the commercial exoskeletons, it is necessary to further assess their load capacity and evolution over time,...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/9/12/362 |
| _version_ | 1797502861146324992 |
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| author | Vitor Neves Hartmann Décio de Moura Rinaldi Camila Taira Arturo Forner-Cordero |
| author_facet | Vitor Neves Hartmann Décio de Moura Rinaldi Camila Taira Arturo Forner-Cordero |
| author_sort | Vitor Neves Hartmann |
| collection | DOAJ |
| description | Exoskeletons have been introduced in industrial environments to prevent overload or repetitive stress injuries in workers. However, due to the lack of public detailed information about most of the commercial exoskeletons, it is necessary to further assess their load capacity and evolution over time, as their performance may change with use. We present the design and construction of a controlled device to measure the torque of industrial exoskeletons, along with the results of static and dynamic testing of an exoskeleton model. A step motor in the test bench moves the exoskeleton arm in a pre-defined path at a prescribed speed. The force measured with a beam load cell located at the interface between the exoskeleton arm and the test bench is used to derive the torque. The proposed test bench can be easily modified to allow different exoskeleton models to be tested under the same conditions. |
| first_indexed | 2024-03-10T03:42:11Z |
| format | Article |
| id | doaj.art-9aa4353b670e49dc9857458fe265800f |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T03:42:11Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-9aa4353b670e49dc9857458fe265800f2023-11-23T09:17:09ZengMDPI AGMachines2075-17022021-12-0191236210.3390/machines9120362Industrial Upper-Limb Exoskeleton Characterization: Paving the Way to New Standards for BenchmarkingVitor Neves Hartmann0Décio de Moura Rinaldi1Camila Taira2Arturo Forner-Cordero3Departamento de Engenharia Mecatrônica e Sistemas Mecânicos, Escola Politécnica da Universidade de São Paulo, São Paulo 05508-030, BrazilDepartamento de Engenharia Mecatrônica e Sistemas Mecânicos, Escola Politécnica da Universidade de São Paulo, São Paulo 05508-030, BrazilDepartamento de Engenharia Mecatrônica e Sistemas Mecânicos, Escola Politécnica da Universidade de São Paulo, São Paulo 05508-030, BrazilDepartamento de Engenharia Mecatrônica e Sistemas Mecânicos, Escola Politécnica da Universidade de São Paulo, São Paulo 05508-030, BrazilExoskeletons have been introduced in industrial environments to prevent overload or repetitive stress injuries in workers. However, due to the lack of public detailed information about most of the commercial exoskeletons, it is necessary to further assess their load capacity and evolution over time, as their performance may change with use. We present the design and construction of a controlled device to measure the torque of industrial exoskeletons, along with the results of static and dynamic testing of an exoskeleton model. A step motor in the test bench moves the exoskeleton arm in a pre-defined path at a prescribed speed. The force measured with a beam load cell located at the interface between the exoskeleton arm and the test bench is used to derive the torque. The proposed test bench can be easily modified to allow different exoskeleton models to be tested under the same conditions.https://www.mdpi.com/2075-1702/9/12/362exoskeletonstest benchindustrybenchmarking |
| spellingShingle | Vitor Neves Hartmann Décio de Moura Rinaldi Camila Taira Arturo Forner-Cordero Industrial Upper-Limb Exoskeleton Characterization: Paving the Way to New Standards for Benchmarking Machines exoskeletons test bench industry benchmarking |
| title | Industrial Upper-Limb Exoskeleton Characterization: Paving the Way to New Standards for Benchmarking |
| title_full | Industrial Upper-Limb Exoskeleton Characterization: Paving the Way to New Standards for Benchmarking |
| title_fullStr | Industrial Upper-Limb Exoskeleton Characterization: Paving the Way to New Standards for Benchmarking |
| title_full_unstemmed | Industrial Upper-Limb Exoskeleton Characterization: Paving the Way to New Standards for Benchmarking |
| title_short | Industrial Upper-Limb Exoskeleton Characterization: Paving the Way to New Standards for Benchmarking |
| title_sort | industrial upper limb exoskeleton characterization paving the way to new standards for benchmarking |
| topic | exoskeletons test bench industry benchmarking |
| url | https://www.mdpi.com/2075-1702/9/12/362 |
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