Abstract
An important open challenge in robotic assistive exoskeletons is how to control them to maximize their physical benefits on users. We addressed this challenge on a back support exoskeleton in a preliminary user study, which evaluated three possible assistive strategies on a lifting task. One strategy modulated the assistance on the posture of the torso. The two additional direct strategies assisted proportionally to forearm electromyography and grip pressure on the fingertip, respectively.
The experiments highlighted that the direct strategies modulate assistance more appropriately than the posture-based one. Additionally, the associated acquisition devices were not considered obtrusive for the lifting task. The insights from this exploratory study will guide further development of the control interface to operate the robotic back support.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
Notes
- 1.
A comprehensive list of exoskeletons available to date can be found on http://exoskeletonreport.com/product-category/exoskeleton-catalog/industrial/.
- 2.
To simplify the description, the weight of the empty box was neglected.
References
Tucker MR, Olivier J, Pagel A, Bleuler H, Bouri M, Lambercy O (2015) Control strategies for active lower extremity prosthetics and orthotics: a review. J NeuroEng Rehabil 1(12)
Lobo-prat J, Kooren PN, Stienen AHA, Herder JL, Koopman BFJM, Veltink PH (2014) Non-invasive control interfaces for intention detection in active movement-assistive devices. J NeuroEng Rehabil 11(1):1–22
Yan T, Cempini M, Maria C, Vitiello N (2015) Review of assistive strategies in powered lower-limb orthoses and exoskeletons. Robot Auton Syst 64:120–136. http://dx.doi.org/10.1016/j.robot.2014.09.032
Toxiri S, Ortiz J, Masood J, Fernandez J, Mateos LA, Caldwell DG (2016) A powered low-back exoskeleton for industrial handling: considerations on controls. In: International symposium on wearable robotics
Young AJ, Ferris DP (2016) State-of-the-art and future directions for robotic lower limb exoskeletons. IEEE Trans Neural Syst Rehabil Eng 25:171–182
Ansari A, Atkeson CG, Choset H, Travers M (2015) Estimating operator intent (Draft 4.0). Carnegie Mellon University
Lenzi T, De Rossi SMM, Vitiello N, Carrozza MC (2012) Intention-based EMG control for powered exoskeletons. IEEE Trans Biomed Eng 59(8):2180–2190
Grazi L, Crea S, Parri A, Yan T, Cortese M, Giovacchini F, Cempini M, Pasquini G, Micera S, Vitiello N (2015) Gastrocnemius myoelectric control of a robotic hip exoskeleton. In: Proceedings of the annual international conference of the IEEE engineering in medicine and biology society, EMBS, vol 2015, pp 3881–3884, November 2015
Kawamoto H, Lee SLS, Kanbe S, Sankai Y (2003) Power assist method for HAL-3 using EMG-based feedback controller. In: IEEE international conference on systems, man and cybernetics, vol 2, pp 1648–1653
Toxiri S, Ortiz J, Masood J, Fernandez J, Mateos LA, Caldwell DG (2015) A wearable device for reducing spinal loads during lifting tasks: biomechanics and design concepts. In: International conference on robotics and biomimetics, pp 2295–2300
Acknowledgement
The authors would like to thank Jorge Fernández for his invaluable contribution to the mechanical design of the prototypes.
The research leading to these results has received funding from the European Union’s Seventh Framework Programme for research, technological development and demonstration under grant agreement Robo-Mate n\(^\circ \) 608979, and from the People Programme (Marie Curie Actions) of the European Union’s Seventh Framework Programme FP7/2007–2013/ for research, technological development and demonstration under REA grant agreement SMART-E n\(^\circ \) 608022.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Toxiri, S., Ortiz, J., Caldwell, D.G. (2018). Assistive Strategies for a Back Support Exoskeleton: Experimental Evaluation. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_85
Download citation
DOI: https://doi.org/10.1007/978-3-319-61276-8_85
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-61275-1
Online ISBN: 978-3-319-61276-8
eBook Packages: EngineeringEngineering (R0)