Kinematic and kinetic functional requirements for industrial exoskeletons for lifting tasks and overhead lifting

Abstract

The aim of this study was to sample human kinematics and kinetics during simulated tasks to aid the design of industrial exoskeletons. Twelve participants performed two dynamic tasks; a simulated lifting task and an overhead lifting task. Based on the current data, to completely assist a worker with lifting loads up to 15 kg, hip actuators would need to supply up to 111 Nm of extensor torque at speeds up to 139°/s of extension velocity and 26°/s of flexion velocity. The actuators should allow the hip to extend to 11° and flex to 95°, and supply a power of 212 W. To completely assist workers lifting a 3 kg load overhead, actuators assisting shoulder flexion would need to supply up to 20 Nm of flexor torque at speeds up to 21°/s of extension velocity and 116°/s of flexion velocity. The actuators should also allow 67° of shoulder flexion and supply a power of 27 W.

Practitioner summary: There is increasing interest in developing exoskeletons for industrial applications. This study details relevant kinetic and kinematic exposures for common production tasks, which can be used to inform functional requirements of industrial exoskeletons.

Abbreviations
WMSD(s)	=	work-related musculoskeletal disorders
MMH	=	manual materials handling
DOF	=	degrees of freedom
BLEEX	=	Berkeley lower extremity exoskeleton
LED(s)	=	light emitting diode
Rel	=	relative

Highlights

• This study sampled joint kinematic and kinetic activity to inform design of industrial exoskeletons.

• The study presents sample values to two types of common industrial tasks across the major joints as are often assisted.

• We also indicate considerations on which joints should be considered to be actively assisted.

Keywords:

• Exoskeleton
• assistive robotics
• kinematic and kinetic
• industrial tasks

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This research was supported by funding from the European Commission under the Robomate FP7 project [contract number 608979].