Automatization of Manual Labor by Using an Industrial Exoskeleton

Abstract

This work is devoted to the actual scientific problem of determining the parameters of the drive elements of an active exoskeleton. Exoskeletal suit is a modern and effective way to automate manual labor of industrial workers. The development of an electromechanical exoskeleton system is not possible without determining the torques in the joints of the device when performing technological operations. It is well known that measurement of the torques in the joints of the exoskeleton and in the joints of the operator is a difficult task. The aim of this paper is the use of a combined method based on sequential experimental research and numerical modeling. In the framework of the experimental studies, the absolute rotation angles of the links have been determined, using a special measuring equipment and data processing methods from sensors. In the course of numerical simulation, the forward dynamics problem has been solved, using the kinematic characteristics of motion of the system, which have been experimentally obtained. During this process the patterns of change of the torques in the exoskeleton joints have been determined. As case of study, the movement based on a labor process with a load in an inclined position has been considered. It is considered as the most labor-intensive and traumatic process during real industrial production.