A Low-Back Exoskeleton can Reduce the Erector Spinae Muscles Activity During Freestyle Symmetrical Load Lifting Tasks

摘要: Low-back wearable robots are emerging tools to provide support operators during handling of goods and repetitive operations. In this paper, we present validate a novel control strategy for an active pelvis orthosis, which operates intuitively effectively assist workers lifting The proposed has hierarchical architecture: the first layer (the intention-detection module) aims detect online onset movement; second assistive strategy) computes reference torque profile movement, after movement is detected; third low-level layer) at setting current drive actuators. relies on angle measurements acquired by encoders integrated in robotic device does not need additional sensors event. system was tested pool five healthy subjects, who were requested perform movements: first, subject bend trunk, grasp box, lift it up place table; second, object from table, lower down, floor get without load. tasks executed with exoskeleton controlled transparent modes. Results show that action allows faster. Significant reductions activity Lumbar Erector Spinae muscles observed mode compared mode: 16% reduction when extending trunk while holding weight 33%