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Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis

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Development of Quasi-Passive Back-Support Exoskeleton with Compact Variable Gravity Compensation Module and

Gijoon Song¹, Junyoung Moon¹, Jehyeok Kim²

¹School of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of Korea.

Biomimetics (Basel, Switzerland)

|March 27, 2024

Summary

This study introduces AeBS, a novel back support exoskeleton designed to reduce workplace injuries. It offers adjustable torque for hip movement without limiting motion, enhancing comfort and safety for industrial workers.

Keywords:

back support quasi-passive mechanism variable assistance wearable robots

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Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton

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Area of Science:

Biomechanics and Ergonomics
Robotics and Human-Machine Systems

Background:

Musculoskeletal injuries are common in industrial settings, necessitating effective preventative measures.
Back support exoskeletons are gaining traction for alleviating these injuries.
Existing solutions may limit motion or lack adaptive support.

Purpose of the Study:

To introduce AeBS, a quasi-passive back-support exoskeleton.
To provide variable assistive torque across the hip joint's range of motion.
To minimize energy expenditure for torque variation while ensuring comfort and freedom of movement.

Main Methods:

Development of AeBS featuring a compact variable gravity compensation module with reinforced elastic elements.
Integration of a bio-inspired hip joint mechanism mimicking human hip axis configuration.
Benchtop testing for torque range and range of motion assessment.
Questionnaire survey for wearer comfort and perceived assistance effectiveness.

Main Results:

AeBS demonstrated a variable assistive torque range of 5.81 Nm (1.23–7.04 Nm) across a 135° hip flexion range.
The bio-inspired hip joint mechanism ensured free body motion.
Testing confirmed minimal constraint on hip joint range of motion.
Wearer feedback indicated effective torque transmission and enhanced comfort.

Conclusions:

AeBS offers a promising solution for reducing musculoskeletal injuries in industrial environments.
The exoskeleton effectively provides adjustable back support without compromising wearer mobility or comfort.
The bio-inspired design is key to achieving both functional assistance and user acceptance.