Rationale, Implementation and Evaluation of Assistive Strategies for an Active Back-Support Exoskeleton

Stefano Toxiri; Axel S Koopman; Maria Lazzaroni; Jesús Ortiz; Valerie Power; Michiel P de Looze; Leonard O'Sullivan; Darwin G Caldwell

doi:10.3389/frobt.2018.00053

Rationale, Implementation and Evaluation of Assistive Strategies for an Active Back-Support Exoskeleton

Front Robot AI. 2018 May 25:5:53. doi: 10.3389/frobt.2018.00053. eCollection 2018.

Authors

Stefano Toxiri^{1

2}, Axel S Koopman³, Maria Lazzaroni^{1

4}, Jesús Ortiz¹, Valerie Power⁵, Michiel P de Looze^{3

6}, Leonard O'Sullivan^{5

7}, Darwin G Caldwell¹

Affiliations

¹ Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy.
² Department of Informatics Bioengineering Robotics and Systems Engineering, University of Genoa, Genoa, Italy.
³ Department of Human Movement Sciences, Faculty of Behavioural and Movement Sciences, Vrije Universiteit Amsterdam, Amsterdam Movement Sciences, Amsterdam, Netherlands.
⁴ Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy.
⁵ School of Design, University of Limerick, Limerick, Ireland.
⁶ TNO, Leiden, Netherlands.
⁷ Health Research Institute, University of Limerick, Limerick, Ireland.

Abstract

Active exoskeletons are potentially more effective and versatile than passive ones, but designing them poses a number of additional challenges. An important open challenge in the field is associated to the assistive strategy, by which the actuation forces are modulated to the user's needs during the physical activity. This paper addresses this challenge on an active exoskeleton prototype aimed at reducing compressive low-back loads, associated to risk of musculoskeletal injury during manual material handling (i.e., repeatedly lifting objects). An analysis of the biomechanics of the physical task reveals two key factors that determine low-back loads. For each factor, a suitable control strategy for the exoskeleton is implemented. The first strategy is based on user posture and modulates the assistance to support the wearer's own upper body. The second one adapts to the mass of the lifted object and is a practical implementation of electromyographic control. A third strategy is devised as a generalized combination of the first two. With these strategies, the proposed exoskeleton can quickly adjust to different task conditions (which makes it versatile compared to using multiple, task-specific, devices) as well as to individual preference (which promotes user acceptance). Additionally, the presented implementation is potentially applicable to more powerful exoskeletons, capable of generating larger forces. The different strategies are implemented on the exoskeleton and tested on 11 participants in an experiment reproducing the lifting task. The resulting data highlights that the strategies modulate the assistance as intended by design, i.e., they effectively adjust the commanded assistive torque during operation based on user posture and external mass. The experiment also provides evidence of significant reduction in muscular activity at the lumbar spine (around 30%) associated to using the exoskeleton. The reduction is well in line with previous literature and may be associated to lower risk of injury.

Keywords: electromyography; exoskeleton; manual material handling; myocontrol; powered; strategy.