Skip to main content

Optimizing Design Characteristics of Passive and Active Spinal Exoskeletons for Challenging Work Tasks

  • Conference paper
  • First Online:
Wearable Robotics: Challenges and Trends (WeRob 2018)

Part of the book series: Biosystems & Biorobotics ((BIOSYSROB,volume 22))

Included in the following conference series:

Abstract

Spinal exoskeletons can reduce the cumulative back load of physically demanding working tasks and, thus, have the potential to reduce the risk of low-back injuries. In this work, we perform a comparative design study of active and passive spinal exoskeletons to support stoop-lifts of a 10 kg box. We recorded various healthy subjects performing this motion and created mathematical models of the subjects and of active spinal exoskeletons. The spring characteristics as well as the torque profiles are optimized to reduce the load on the subjects while they are tracking the recorded stoop-lifts. In addition, it is ensured that the exoskeletons remain comfortable to wear during the motion. The obtained results are compared to results from a similar setup using a passive spinal exoskeleton.

Financial support by the European Commission within the H2020 project SPEXOR (GA 687662) is gratefully acknowledged.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Rubin, D.I.: Epidemiology and risk factors for spine pain. Neurol. Clin. 25(2), 353–371 (2007)

    Article  Google Scholar 

  2. Guo, H.R., Tanaka, S., Halperin, W.E., Cameron, L.L.: Back pain prevalence in us industry and estimates of lost workdays. Am. J. Public Health 89(7), 1029–1035 (1999)

    Article  Google Scholar 

  3. Stadler, K., Elspass, W., van de Venn, H.: Robo-mate: exoskeleton to enhance industrial production. In: Mobile Service Robotics, pp. 53–60. WORLD SCIENTIFIC (2014)

    Google Scholar 

  4. Coenen, P., Kingma, I., Boot, C.R., Bongers, P.M., van Dieën, J.H.: Cumulative mechanical low-back load at work is a determinant of low-back pain. Occup. Environ. Med. 71(5), 332–337 (2014)

    Article  Google Scholar 

  5. Harant, M., Sreenivasa, M., Millard, M., Šarabon, N., Mombaur, K.: Parameter optimization for passive spinal exoskeletons based on experimental data and optimal control. In: IEEE/RAS International Conference on Humanoid Robots (Humanoids 2017) (2017)

    Google Scholar 

  6. Harant, M., Sreenivasa, M., Millard, M., Šarabon, N., Mombaur, K.: Identification of optimal compliance in passive spinal exoskeletons based on motion capture experiments and subject-specific musculoskeletal models, unpublished

    Google Scholar 

  7. De Leva, P.: Adjustments to Zatsiorsky-Seluyanov’s segment inertia parameters. J. BIOMECH 29(9), 1223–1230 (1996)

    Article  Google Scholar 

  8. Millard, M., Kleesattel, A.L., Harant, M., Mombaur, K.: A reduced muscle model and planar musculoskeletal model fit for synthesis of whole body movements. J. BIOMECH, submitted for publication

    Google Scholar 

  9. Huysamen, K.: Assessment of an active industrial exoskeleton to aid dynamic lifting and lowering manual handling tasks. Appl. Ergon. 68, 125–131 (2018)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Monika Harant .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Harant, M., Sreenivasa, M., Millard, M., Šarabon, N., Mombaur, K. (2019). Optimizing Design Characteristics of Passive and Active Spinal Exoskeletons for Challenging Work Tasks. In: Carrozza, M., Micera, S., Pons, J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-01887-0_48

Download citation

  • DOI: https://doi.org/10.1007/978-3-030-01887-0_48

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-01886-3

  • Online ISBN: 978-3-030-01887-0

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics