Multijoint passive elastic spine exoskeleton for stoop lifting assistance

In the task of carrying heavy objects, it is easy to cause back injuries and other musculoskeletal diseases. Although wearable robots are designed to reduce this danger, most existing exoskeletons use high-stiffness mechanisms, which are beneficial to load-bearing conduction, but this restricts the...

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Autores principales:	Jiyuan Song, Aibin Zhu, Yao Tu, Jiajun Zou
Formato:	article
Lenguaje:	EN
Publicado:	SAGE Publishing 2021
Materias:	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/a94a1e33a8c641a08982eb0efd5c989e
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id	oai:doaj.org-article:a94a1e33a8c641a08982eb0efd5c989e
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spelling	oai:doaj.org-article:a94a1e33a8c641a08982eb0efd5c989e2021-12-02T03:05:07ZMultijoint passive elastic spine exoskeleton for stoop lifting assistance1729-881410.1177/17298814211062033https://doaj.org/article/a94a1e33a8c641a08982eb0efd5c989e2021-11-01T00:00:00Zhttps://doi.org/10.1177/17298814211062033https://doaj.org/toc/1729-8814In the task of carrying heavy objects, it is easy to cause back injuries and other musculoskeletal diseases. Although wearable robots are designed to reduce this danger, most existing exoskeletons use high-stiffness mechanisms, which are beneficial to load-bearing conduction, but this restricts the natural movement of the human body, thereby causing ergonomic risks. This article proposes a back exoskeleton composed of multiple elastic spherical hinges inspired by the biological spine. This spine exoskeleton can assist in the process of bending the body and ensure flexibility. We deduced the kinematics model of this mechanism and established an analytical biomechanical model of human–robot interaction. The mechanism of joint assistance of the spine exoskeleton was discussed, and experiments were conducted to verify the flexibility of the spine exoskeleton and the effectiveness of the assistance during bending.Jiyuan SongAibin ZhuYao TuJiajun ZouSAGE PublishingarticleElectronicsTK7800-8360Electronic computers. Computer scienceQA75.5-76.95ENInternational Journal of Advanced Robotic Systems, Vol 18 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95
spellingShingle	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95 Jiyuan Song Aibin Zhu Yao Tu Jiajun Zou Multijoint passive elastic spine exoskeleton for stoop lifting assistance
description	In the task of carrying heavy objects, it is easy to cause back injuries and other musculoskeletal diseases. Although wearable robots are designed to reduce this danger, most existing exoskeletons use high-stiffness mechanisms, which are beneficial to load-bearing conduction, but this restricts the natural movement of the human body, thereby causing ergonomic risks. This article proposes a back exoskeleton composed of multiple elastic spherical hinges inspired by the biological spine. This spine exoskeleton can assist in the process of bending the body and ensure flexibility. We deduced the kinematics model of this mechanism and established an analytical biomechanical model of human–robot interaction. The mechanism of joint assistance of the spine exoskeleton was discussed, and experiments were conducted to verify the flexibility of the spine exoskeleton and the effectiveness of the assistance during bending.
format	article
author	Jiyuan Song Aibin Zhu Yao Tu Jiajun Zou
author_facet	Jiyuan Song Aibin Zhu Yao Tu Jiajun Zou
author_sort	Jiyuan Song
title	Multijoint passive elastic spine exoskeleton for stoop lifting assistance
title_short	Multijoint passive elastic spine exoskeleton for stoop lifting assistance
title_full	Multijoint passive elastic spine exoskeleton for stoop lifting assistance
title_fullStr	Multijoint passive elastic spine exoskeleton for stoop lifting assistance
title_full_unstemmed	Multijoint passive elastic spine exoskeleton for stoop lifting assistance
title_sort	multijoint passive elastic spine exoskeleton for stoop lifting assistance
publisher	SAGE Publishing
publishDate	2021
url	https://doaj.org/article/a94a1e33a8c641a08982eb0efd5c989e
work_keys_str_mv	AT jiyuansong multijointpassiveelasticspineexoskeletonforstoopliftingassistance AT aibinzhu multijointpassiveelasticspineexoskeletonforstoopliftingassistance AT yaotu multijointpassiveelasticspineexoskeletonforstoopliftingassistance AT jiajunzou multijointpassiveelasticspineexoskeletonforstoopliftingassistance
_version_	1718402000958259200

Multijoint passive elastic spine exoskeleton for stoop lifting assistance

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