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Optimizing Active Spinal Exoskeletons to Minimize Low Back Loads

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Wearable Robotics: Challenges and Trends (WeRob 2020)

Part of the book series: Biosystems & Biorobotics ((BIOSYSROB,volume 27))

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Abstract

The design and control of exoskeletons is not a straight forward task and presents a lot of challenges. Especially in cases of preventing biomechanical damages, for example low back loads, exoskeletons should be able to provide the necessary amount of support without hindering or hurting the user in any way. To this extend, this study exploits optimal control to evaluate cost functions that minimize (a) cumulative low back loads, (b) peak low back loads and (c) a combination of the previous, while constraining contact (interaction) forces between human and exoskeleton. The results are compared to a kinematic reconstruction from a human without exoskeleton performing the same task of lifting a 10 kg box. Cost function (c) performs the best in terms of achieving an equilibrium between minimizing cumulative and peak lumbar torques—subject to the actuator’s torque and speed limit—reducing the peak torque by 48%.

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Acknowledgements

This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No. 687662.

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Authors and Affiliations

  1. Optimization, Robotics and Biomechanics Lab, Institute of Computer Engineering (ZITI), Heidelberg University, Heidelberg, Germany

    Giorgos D. Marinou

  2. Canada Excellence Research Chair in Human-Centre Robotics and Machine Intelligence, Systems Design Engineering & Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Canada

    Katja D. Mombaur

Authors
  1. Giorgos D. Marinou
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  2. Katja D. Mombaur
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Corresponding author

Correspondence to Giorgos D. Marinou .

Editor information

Editors and Affiliations

  1. Cajal Institute, Madrid, Spain

    Juan C. Moreno

  2. Processes and Factories of the Future, Centro Tecnológico de Automoción de Galicia, Porriño, Spain

    Jawad Masood

  3. Fraunhofer Institute for Manufacturing Engineering and Automation, Stuttgart, Germany

    Urs Schneider

  4. Fraunhofer Institute for Manufacturing Engineering and Automation, Stuttgart, Germany

    Christophe Maufroy

  5. Shirley Ryan AbilityLab (formerly Rehabilitation Institute of Chicago), Chicago, IL, USA

    Jose L. Pons

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Marinou, G.D., Mombaur, K.D. (2022). Optimizing Active Spinal Exoskeletons to Minimize Low Back Loads. In: Moreno, J.C., Masood, J., Schneider, U., Maufroy, C., Pons, J.L. (eds) Wearable Robotics: Challenges and Trends. WeRob 2020. Biosystems & Biorobotics, vol 27. Springer, Cham. https://doi.org/10.1007/978-3-030-69547-7_73

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  • DOI: https://doi.org/10.1007/978-3-030-69547-7_73

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-69546-0

  • Online ISBN: 978-3-030-69547-7

  • eBook Packages: EngineeringEngineering (R0)

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