Academic Papers - Effectiveness of Exoskeletons
Academic Papers - Effectiveness of Exoskeletons
Academic Papers - Effectiveness of Exoskeletons
Academic Papers - Effectiveness of Exoskeletons
Following quantitative / qualitative measures are available
Biomechanical Factors:
Joint Moments, Compression Forces, EMG Muscle Activity
Physiological Factors:
Heart Rate, Energy Expenditure, Metabolic Cost (V02), Blood Pressure, Muscle Oxygen (NIRS)
Productivity Factors:
Time on Task, Task completion time, Endurance Time
Participant-Reported Factors:
Rating of Perceived Exertion, User Acceptance
The study conducted by the Department of Orthopaedics, Trauma, and Plastic Surgery at University Hospital Leipzig, Germany, focused on the effects of SuitX exoskeletons on surgeons during and after surgery.
- Significant pain reduction: Surgeons experienced a notable discomfort reduction in neck, shoulder, and back pain when using the SUITX exoskeleton during operations.
- Feasibility confirmed: In total, 25 participants performed 50 surgical procedures. Most participants were able to use the exoskeleton without any problems;
- Enhanced comfort and endurance: Surgeons reported feeling more comfortable and capable during long procedures.
- User satisfaction: 44% would use it frequently, and 48% would use it rarely.
This study highlights the power of our exoskeletons in improving the health and performance of medical professionals. Our exoskeletons can be used in the medical field to enhance surgeon well-being and reduce musculoskeletal complaint.
Nutz Osterhoff Javers Theopold Kleber (2024). Effect of an upper body exoskeleton for surgeons
Purpose: The aim of this study is to investigate the effects of wearing exoskeletons during welding on the quality of the weld seam.
Material and methods: A total of n = 15 young healthy subjects with welding experience took part in the study. The study design defines a 1-hr workflow that abstracts welding and grinding tasks. The sequence is based on standard DIN EN ISO 9606-1 and reproduces authentic work sequences in the constrained body positions PF-workpiece in front of the body and PE-workpiece overhead. Each subject completed the entire workflow once with and once without passive shoulder exoskeleton in a randomized order.
Results: The evaluation shows that the use of passive shoulder exoskeletons has a significant influence (p = .006 for Position PF; p = .029 for Position PE) on the welding parameter travel speed which significantly influences the quality of the weld seam. The quality scale (by the used augmented reality (AR) welding simulator) of the travel speed, which significantly determines the permissibility of the weld, increases by 5.80% in the constrained body position PF and by 28.87% in the constrained body position PE when using an exoskeleton.
Discussion and conclusion: The score of the welding parameter travel speed, which is essential for the permissibility of the seam, shows a statistically significant increase when an assistance system is used. Further research during real welding with exoskeletons could be based on the setup and workflow of this study.
Introduction: Recently, many industrial exoskeletons for supporting workers in heavy physical tasks have been developed. However, the efficiency of exoskeletons with regard to physical strain reduction has not been fully proved, yet. Several laboratory and field studies have been conducted, but still more data, that cannot be obtained solely by behavioral experiments, are needed to investigate effects on the human body.
Methods: This paper presents an approach to extend laboratory and field research with biomechanical simulations using the AnyBody Modeling System. Based on a dataset recorded in a laboratory experiment with 12 participants using the exoskeleton Paexo Shoulder in an overhead task, the same situation was reproduced in a virtual environment and analyzed with biomechanical simulation.
Results: Simulation results indicate that the exoskeleton substantially reduces muscle activity and joint reaction forces in relevant body areas. Deltoid muscle activity and glenohumeral joint forces in the shoulder were decreased between 54 and 87%. Simultaneously, no increases of muscle activity and forces in other body areas were observed.
Discussion: This study demonstrates how a simulation framework could be used to evaluate changes in internal body loads as a result of wearing exoskeletons. Biomechanical simulation results widely agree with experimental measurements in the previous laboratory experiment and supplement such by providing an insight into effects on the human musculoskeletal system. They confirm that Paexo Shoulder is an effective device to reduce physical strain in overhead tasks. The framework can be extended with further parameters, allowing investigations for product design and evaluation
Two passive back-support exoskeleton (BSE) designs were assessed in terms of muscular activity, energy expenditure, joint kinematics, and subjective responses. Eighteen participants (gender-balanced) completed repetitive lifting tasks in nine different conditions, involving symmetric and asymmetric postures and using two BSEs (along with no BSE as a control condition).
Wearing both BSEs significantly reduced peak levels of trunk extensor muscle activity (by ~9–20%) and reduced energy expenditure (by ~8–14%). Such reductions, though, were more pronounced in the symmetric conditions and differed between the two BSEs tested.
Participants reported lower perceived exertion using either BSE yet raised concerns regarding localized discomfort. Minimal changes in lifting behaviors were evident when using either BSE, and use of both BSEs led to generally positive usability ratings.
While these results are promising regarding the occupational use of BSEs, future work is recommended to consider inter-individual differences to accommodate diverse user needs and preferences.
This paper presents a thorough in-lab assessment of PAEXO, a novel passive exoskeleton for arm support during overhead work. A list of evaluation criteria and associated performance metrics is proposed to cover both objective and subjective effects of the exoskeleton, on the user and on the task being performed. These metrics are measured during a lab study, where 12 participants perform an overhead pointing task with and without the exoskeleton, while their physical, physiological and psychological states are monitored.
Results show that using PAEXO reduces shoulder physical strain as well as global physiological strain, without increasing low back strain nor degrading balance. These positive effects are achieved without degrading task performance. Importantly, participants’ opinions of PAEXO are positive, in agreement with the objective measures.
Thus, PAEXO seems a promising solution to help prevent shoulder injuries and diseases among overhead workers, without negatively impacting productivity.
Full Study:
Trunk Supporting Exoskeletons are increasingly being evaluated in workplaces as viable ergonomic interventions for reducing the risk of back injuries. A series of trunk-supporting exoskeletons have been designed and built at the University of California at Berkeley and SUITX. These exoskeletons decrease the forces on the wearer’s back at L5/S1 location.
This article describes one of these exoskeletons, referred to as backX, and its evaluation method. backX is designed not only to reduce the forces and torques on the wearer’s back at L5/S1 location, but also to allow the wearer to perform all kinds of maneuvers such as walking, squatting, ascending and descending stairs, slopes and ladders, riding bicycles and driving trucks.
This study finds that average muscle activities of the thoracic and lumbar erector spinae muscles among equal populations of male and female subjects, wearing backX while maintaining forward bending postures, are reduced by 75% and 56% respectively. The results of this study and extended field evaluations indicate that wearing backX minimizes the risk of back injuries among workers who repeatedly go through stooping, squatting, and bending postures for various tasks, such as lifting objects.
Although the effect of wearing a back-support exoskeleton during lifting has been demonstrated to reduce overall muscle activation, less is known about how wearing exoskeletons affect muscular fatigue and oxygen consumption.
The purpose of this study is to evaluate the effect of wearing a back-support exoskeleton (backX) on muscle fatigue during repetitive lifting by assessing whether wearing backX increases endurance time relative to lifting unassisted. A secondary objective of this study is to quantify changes in oxygen consumption rate while performing a repetitive lifting task with and without backX to address a common industry concern.
The UC Ergonomics Lab evaluated backX on twelve male subjects by measuring bilateral muscle activity of the erector spinae and oxygen consumption rate. Summary measures of muscle activity for 50 and 90 percent of the repetitive lifting session were used to characterize peak and mean muscle activity. Oxygen consumption rate was collected continuously during the repetitive lifting session.
Compared to the unassisted condition, wearing backX reduced peak lumbar erector spinae activation by 16.5% and 21.8% (p < 0.05). The time subjects could hold a back-straining posture after the repetitive lifting session increased by 52% after wearing backX during the lifting task. The was no significant negative change in oxygen consumption rate.
This study confirms that wearing a backX reduces muscle activation in the lower back for this specific dynamic lifting task. Additionally, we find that wearing a backX may reduce the risk of low back injuries by reducing muscle activity and increasing endurance time to fatigue.
The study conducted by the Department of Orthopaedics, Trauma, and Plastic Surgery at University Hospital Leipzig, Germany, focused on the effects of SuitX exoskeletons on surgeons during and after surgery.
- Significant pain reduction: Surgeons experienced a notable discomfort reduction in neck, shoulder, and back pain when using the SUITX exoskeleton during operations.
- Feasibility confirmed: In total, 25 participants performed 50 surgical procedures. Most participants were able to use the exoskeleton without any problems;
- Enhanced comfort and endurance: Surgeons reported feeling more comfortable and capable during long procedures.
- User satisfaction: 44% would use it frequently, and 48% would use it rarely.
This study highlights the power of our exoskeletons in improving the health and performance of medical professionals. Our exoskeletons can be used in the medical field to enhance surgeon well-being and reduce musculoskeletal complaint.
Nutz Osterhoff Javers Theopold Kleber (2024). Effect of an upper body exoskeleton for surgeons
Purpose: The aim of this study is to investigate the effects of wearing exoskeletons during welding on the quality of the weld seam.
Material and methods: A total of n = 15 young healthy subjects with welding experience took part in the study. The study design defines a 1-hr workflow that abstracts welding and grinding tasks. The sequence is based on standard DIN EN ISO 9606-1 and reproduces authentic work sequences in the constrained body positions PF-workpiece in front of the body and PE-workpiece overhead. Each subject completed the entire workflow once with and once without passive shoulder exoskeleton in a randomized order.
Results: The evaluation shows that the use of passive shoulder exoskeletons has a significant influence (p = .006 for Position PF; p = .029 for Position PE) on the welding parameter travel speed which significantly influences the quality of the weld seam. The quality scale (by the used augmented reality (AR) welding simulator) of the travel speed, which significantly determines the permissibility of the weld, increases by 5.80% in the constrained body position PF and by 28.87% in the constrained body position PE when using an exoskeleton.
Discussion and conclusion: The score of the welding parameter travel speed, which is essential for the permissibility of the seam, shows a statistically significant increase when an assistance system is used. Further research during real welding with exoskeletons could be based on the setup and workflow of this study.
Introduction: Recently, many industrial exoskeletons for supporting workers in heavy physical tasks have been developed. However, the efficiency of exoskeletons with regard to physical strain reduction has not been fully proved, yet. Several laboratory and field studies have been conducted, but still more data, that cannot be obtained solely by behavioral experiments, are needed to investigate effects on the human body.
Methods: This paper presents an approach to extend laboratory and field research with biomechanical simulations using the AnyBody Modeling System. Based on a dataset recorded in a laboratory experiment with 12 participants using the exoskeleton Paexo Shoulder in an overhead task, the same situation was reproduced in a virtual environment and analyzed with biomechanical simulation.
Results: Simulation results indicate that the exoskeleton substantially reduces muscle activity and joint reaction forces in relevant body areas. Deltoid muscle activity and glenohumeral joint forces in the shoulder were decreased between 54 and 87%. Simultaneously, no increases of muscle activity and forces in other body areas were observed.
Discussion: This study demonstrates how a simulation framework could be used to evaluate changes in internal body loads as a result of wearing exoskeletons. Biomechanical simulation results widely agree with experimental measurements in the previous laboratory experiment and supplement such by providing an insight into effects on the human musculoskeletal system. They confirm that Paexo Shoulder is an effective device to reduce physical strain in overhead tasks. The framework can be extended with further parameters, allowing investigations for product design and evaluation
Two passive back-support exoskeleton (BSE) designs were assessed in terms of muscular activity, energy expenditure, joint kinematics, and subjective responses. Eighteen participants (gender-balanced) completed repetitive lifting tasks in nine different conditions, involving symmetric and asymmetric postures and using two BSEs (along with no BSE as a control condition).
Wearing both BSEs significantly reduced peak levels of trunk extensor muscle activity (by ~9–20%) and reduced energy expenditure (by ~8–14%). Such reductions, though, were more pronounced in the symmetric conditions and differed between the two BSEs tested.
Participants reported lower perceived exertion using either BSE yet raised concerns regarding localized discomfort. Minimal changes in lifting behaviors were evident when using either BSE, and use of both BSEs led to generally positive usability ratings.
While these results are promising regarding the occupational use of BSEs, future work is recommended to consider inter-individual differences to accommodate diverse user needs and preferences.
This paper presents a thorough in-lab assessment of PAEXO, a novel passive exoskeleton for arm support during overhead work. A list of evaluation criteria and associated performance metrics is proposed to cover both objective and subjective effects of the exoskeleton, on the user and on the task being performed. These metrics are measured during a lab study, where 12 participants perform an overhead pointing task with and without the exoskeleton, while their physical, physiological and psychological states are monitored.
Results show that using PAEXO reduces shoulder physical strain as well as global physiological strain, without increasing low back strain nor degrading balance. These positive effects are achieved without degrading task performance. Importantly, participants’ opinions of PAEXO are positive, in agreement with the objective measures.
Thus, PAEXO seems a promising solution to help prevent shoulder injuries and diseases among overhead workers, without negatively impacting productivity.
Full Study:
Trunk Supporting Exoskeletons are increasingly being evaluated in workplaces as viable ergonomic interventions for reducing the risk of back injuries. A series of trunk-supporting exoskeletons have been designed and built at the University of California at Berkeley and SUITX. These exoskeletons decrease the forces on the wearer’s back at L5/S1 location.
This article describes one of these exoskeletons, referred to as backX, and its evaluation method. backX is designed not only to reduce the forces and torques on the wearer’s back at L5/S1 location, but also to allow the wearer to perform all kinds of maneuvers such as walking, squatting, ascending and descending stairs, slopes and ladders, riding bicycles and driving trucks.
This study finds that average muscle activities of the thoracic and lumbar erector spinae muscles among equal populations of male and female subjects, wearing backX while maintaining forward bending postures, are reduced by 75% and 56% respectively. The results of this study and extended field evaluations indicate that wearing backX minimizes the risk of back injuries among workers who repeatedly go through stooping, squatting, and bending postures for various tasks, such as lifting objects.
Although the effect of wearing a back-support exoskeleton during lifting has been demonstrated to reduce overall muscle activation, less is known about how wearing exoskeletons affect muscular fatigue and oxygen consumption.
The purpose of this study is to evaluate the effect of wearing a back-support exoskeleton (backX) on muscle fatigue during repetitive lifting by assessing whether wearing backX increases endurance time relative to lifting unassisted. A secondary objective of this study is to quantify changes in oxygen consumption rate while performing a repetitive lifting task with and without backX to address a common industry concern.
The UC Ergonomics Lab evaluated backX on twelve male subjects by measuring bilateral muscle activity of the erector spinae and oxygen consumption rate. Summary measures of muscle activity for 50 and 90 percent of the repetitive lifting session were used to characterize peak and mean muscle activity. Oxygen consumption rate was collected continuously during the repetitive lifting session.
Compared to the unassisted condition, wearing backX reduced peak lumbar erector spinae activation by 16.5% and 21.8% (p < 0.05). The time subjects could hold a back-straining posture after the repetitive lifting session increased by 52% after wearing backX during the lifting task. The was no significant negative change in oxygen consumption rate.
This study confirms that wearing a backX reduces muscle activation in the lower back for this specific dynamic lifting task. Additionally, we find that wearing a backX may reduce the risk of low back injuries by reducing muscle activity and increasing endurance time to fatigue.