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A Wearable Upper Limb Exoskeleton System and Intelligent Control Strategy.

Qiang Wang1, Chunjie Chen2, Xinxing Mu1

  • 1Shandong Zhongke Advanced Technology Co., Ltd., Jinan 250100, China.

Biomimetics (Basel, Switzerland)
|March 27, 2024
PubMed
Summary

This study developed a wearable upper limb exoskeleton robot to reduce muscle fatigue during heavy lifting. The system accurately identifies postures and provides auxiliary force, reducing muscle activity by 19-30%.

Keywords:
exoskeletonupper limb assistancewearable robotics

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Area of Science:

  • Robotics
  • Biomechanics
  • Human-Computer Interaction

Background:

  • Heavy lifting tasks often cause upper limb muscle fatigue and injuries.
  • Wearable assistive devices can mitigate these issues by providing external support.
  • Existing solutions may lack adaptability or comfort for prolonged use.

Purpose of the Study:

  • To develop and evaluate a lightweight, wearable upper limb exoskeleton (ULE) robot system.
  • To implement an intelligent control system for automatic auxiliary force provision.
  • To assess the effectiveness of the ULE in reducing muscle fatigue during lifting tasks.

Main Methods:

  • Development of a ULE robot with a flexible cable transmission system bypassing the shoulder.
  • Integration of the K-nearest neighbors (KNN) algorithm for posture identification and fuzzy PID control for auxiliary force.
  • Evaluation of muscle fatigue using electromyogram (EMG) signals from brachioradialis, triceps brachii, and biceps brachii muscles under varying load conditions (5-15 kg).

Main Results:

  • The KNN algorithm achieved a test accuracy of 94.59% in identifying handling postures.
  • The ULE system demonstrated a reduction in average peak EMG signal values by 19-30% across tested muscles and loads.
  • The exoskeleton provided significant muscle fatigue reduction during lifting, holding, and squatting actions.

Conclusions:

  • The developed wearable upper limb exoskeleton robot effectively reduces muscle fatigue and provides practical assistance during heavy lifting operations.
  • The intelligent control system, combining KNN and fuzzy PID, enables accurate and automatic provision of auxiliary force.
  • The lightweight and wearable design ensures comfort and minimal impact on the wearer's range of motion.