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    Area of Science:

    • Biomechanics
    • Robotics
    • Human-Computer Interaction

    Background:

    • Current active back-support exoskeletons (BSEs) often lack synergy with users by not targeting internal forces.
    • Previous work introduced a neuromechanical model-based controller (NMBC) for lumbosacral (L5/S1) moment assistance using a soft exosuit, but assistance limits were unclear.

    Purpose of the Study:

    • To adapt the NMBC for a rigid BSE to deliver higher assistive torques.
    • To investigate the effects of increased assistance levels on user biomechanics and controller performance during lifting tasks.

    Main Methods:

    • Adapted NMBC for a rigid active BSE capable of delivering up to 114.5 Nm assistive torque.
    • Tested three assistance levels (20%, 50%, 80% of estimated L5/S1 moments) with three participants performing stoop and squat lifts of 5 kg and 15 kg loads.
    • Compared performance against a transparent mode (MINIMP) and no exoskeleton (NOEXO).

    Main Results:

    • All assisted conditions significantly reduced L5/S1 moments compared to NOEXO, even with the heavy BSE.
    • A trend towards reduced perceived effort was observed with higher assistance levels, though not statistically significant.
    • Higher assistive torques led to deteriorated torque tracking and instabilities, but the system adapted to unknown loads and lifting techniques.

    Conclusions:

    • Demonstrated the feasibility of using NMBC with larger support gains in a rigid BSE.
    • Highlights the potential benefits of increased assistance for reducing spinal load.
    • Identified challenges in torque tracking and stability that require further investigation for optimized human-exoskeleton interaction.