Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany.
Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, 70569 Stuttgart, Germany.
Int J Environ Res Public Health. 2022 Nov 23;19(23):15533. doi: 10.3390/ijerph192315533.
Occupational exoskeletons are a promising solution to prevent work-related musculoskeletal disorders (WMSDs). However, there are no established systems that support heavy lifting to shoulder height. Thus, this work presents a model-based analysis of heavy lifting activities and subsequent exoskeleton concept optimization. Six motion sequences were captured in the laboratory for three subjects and analyzed in multibody simulations with respect to muscle activities (MAs) and joint forces (JFs). The most strenuous sequence was selected and utilized in further simulations of a human model connected to 32 exoskeleton concept variants. Six simulated concepts were compared concerning occurring JFs and MAs as well as interaction loads in the exoskeleton arm interfaces. Symmetric uplifting of a 21 kg box from hip to shoulder height was identified as the most strenuous motion sequence with highly loaded arms, shoulders, and back. Six concept variants reduced mean JFs (spine: >70%, glenohumeral joint: >69%) and MAs (back: >63%, shoulder: >59% in five concepts). Parasitic loads in the arm bracing varied strongly among variants. An exoskeleton design was identified that effectively supports heavy lifting, combining high musculoskeletal relief and low parasitic loads. The applied workflow can help developers in the optimization of exoskeletons.
作业型外骨骼是预防与工作相关的肌肉骨骼疾病 (WMSD) 的一种很有前途的解决方案。然而，目前还没有支持举升到肩部高度的既定系统。因此，这项工作提出了一种基于模型的举重活动分析和随后的外骨骼概念优化。对三个受试者在实验室中进行了六组运动序列的捕捉，并在多体模拟中对肌肉活动 (MA) 和关节力 (JF) 进行了分析。选择了最费力的序列，并在连接到 32 种外骨骼概念变体的人体模型中进行了进一步的模拟。对六个模拟概念进行了比较，涉及到出现的 JFs 和 MAs 以及外骨骼手臂接口的相互作用负载。从臀部提升 21 公斤箱子到肩部高度的对称提升被确定为最费力的运动序列，手臂、肩膀和背部的负载很高。六个概念变体降低了平均 JFs（脊柱：>70%，盂肱关节：>69%）和 MAs（背部：>63%，五个概念中的肩部：>59%）。手臂支撑中的寄生负载在变体之间变化很大。确定了一种有效的外骨骼设计，可以有效地支持举重，同时结合高肌肉骨骼缓解和低寄生负载。所应用的工作流程可以帮助外骨骼开发人员进行优化。
