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Position Sensing and Control with FMG Sensors for Exoskeleton Physical Assistance Read chapter Read first chapter

2019 | OriginalPaper | Chapter

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

Authors : Monika Harant, Manish Sreenivasa, Matthew Millard, Nejc Šarabon, Katja Mombaur

Published in: Wearable Robotics: Challenges and Trends

Publisher: Springer International Publishing

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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.

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previous chapter Real-Time Control of Quasi-Active Hip Exoskeleton Based on Gaussian Mixture Model Approach
next chapter Calibration and Validation of a Skeletal Multibody Model for Leg-Orthosis Contact Force Estimation
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Metadata
Title
Optimizing Design Characteristics of Passive and Active Spinal Exoskeletons for Challenging Work Tasks
Authors
Monika Harant
Manish Sreenivasa
Matthew Millard
Nejc Šarabon
Katja Mombaur
Copyright Year
2019
Book
Wearable Robotics: Challenges and Trends

Print ISBN: 978-3-030-01886-3

Electronic ISBN: 978-3-030-01887-0

Copyright Year: 2019

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