Abstract
This paper presents the E-LEG, a novel semi-passive lower-limb exoskeleton for worker squatting assistance, with motorized tuning of the assistive squatting height. Compared with other passive industrial exoskeletons for the lower-limbs, the E-LEG presents novel design features namely inertial sensor for measuring the tilt angle of thigh and the novel electromagnetic switch for adjusting squat height. These features could enhance the effectiveness of the system. In addition to the introduction to exoskeleton design, this paper also reports the systematic experimental evaluation of human subjects. With the assistance of different conditions, the variability of muscular activity was evaluated in long-term static squatting task. The set of metrics to evaluate the effect of the device included leg muscle activity, plantar pressure fluctuation, plantar pressure center fluctuation and gait angles. Results show that the exoskeleton can reduce the muscular activity of the user during squatting, and it will have little affect the normal gait of the user during walking. In this study, we found that the E-LEG exoskeleton has potential effectiveness in reducing the muscular strain on long-term continuous squatting activities.
Highlights
W ORK related musculoskeletal diseases (WRMSDs) can occur to any part of the musculoskeletal system, such as upper limbs, lower limbs, waist, etc. [1]
Similar to other studies evaluating the effectiveness of the lower extremity exoskeleton through objective indicators [22]–[26], we studied a set of indicators to simultaneously evaluate the effects of assistance on muscle activity and muscle fatigue in the lower limbs, as well as on gait during walking
Since the posture and operation of workers are important indicators to determine the risk of WRMSDs [34], integrated sensors can monitor the kinematic parameters of specific operators, and may be applied to the ergonomic design of tasks
Summary
W ORK related musculoskeletal diseases (WRMSDs) can occur to any part of the musculoskeletal system, such as upper limbs, lower limbs, waist, etc. [1]. Working condition that need standing or squatting for several hours during the day, such as mining, assembly lines and surgery, etc. All of these activities will increase the fatigue of lower limb muscles and reduce its exercise performance [3]. Considering the need to keep standing or squatting for a long time at work, automobile assembly line [6] is one of the most extensive industries facing the risk of lower limb WRMSDs. In the automobile assembly line, due to space constraints, workers can only stand or squat for assembly operation. The exoskeleton of assisted squatting shall be able to switch between walking and squatting freely, and the height of squatting can be adjusted according to the required working height
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