Model-Based Comparison of Passive and Active Assistance Designs in an Occupational Upper Limb Exoskeleton for...

Area of Science:

• Occupational health and safety
• Robotics and human-machine systems
• Biomechanics and ergonomics

Background:

• Industrial workers face risks of musculoskeletal disorders from repetitive tasks.
• Passive exoskeletons use springs/elastic elements for motion assistance.
• Active exoskeletons with powered actuators are largely in research stages.

Purpose of the Study:

• To evaluate and compare passive and active upper limb exoskeleton designs.
• To demonstrate the benefits of both passive and active assistance methods.
• To assess the efficacy of different exoskeleton assistance strategies.

Main Methods:

• A model-based approach was used for evaluation.
• Simulations were conducted for an overhead lifting task.
• Electromyography data was utilized to assess active assistance.

Main Results:

• Both passive and active exoskeleton assistance methods demonstrated benefits.
• The study highlighted the advantages of passive systems in energy storage and release.
• Modeling and simulation indicated potential benefits of active assistance.

Conclusions:

• Passive and active upper limb exoskeletons can support industrial workers.
• Further comparison and assessment of exoskeleton systems are necessary.
• Active assistance, informed by electromyography, shows promising potential for industrial applications.