Industrial Upper-Limb Exoskeleton Characterization: Paving the Way to New Standards for Benchmarking

Vitor Neves Hartmann,Décio De Moura Rinaldi,Arturo Forner-Cordero,Camila Taira

doi:10.3390/machines9120362

Abstract

Exoskeletons have been introduced in industrial environments to prevent overload or repetitive stress injuries in workers. However, due to the lack of public detailed information about most of the commercial exoskeletons, it is necessary to further assess their load capacity and evolution over time, as their performance may change with use. We present the design and construction of a controlled device to measure the torque of industrial exoskeletons, along with the results of static and dynamic testing of an exoskeleton model. A step motor in the test bench moves the exoskeleton arm in a pre-defined path at a prescribed speed. The force measured with a beam load cell located at the interface between the exoskeleton arm and the test bench is used to derive the torque. The proposed test bench can be easily modified to allow different exoskeleton models to be tested under the same conditions.

Highlights

Work-related musculoskeletal disorders (WMSDs) are a major concern in working environments [1], and they are often associated with repetitive movements and prolonged unfavorable postures during working shifts
In a previous study [25], we presented the design of a test bench to measure the actuating torque of shoulder exoskeleton models, in order to compare these values between different manufacturers under controlled conditions
We propose a set of tests that involve both static and dynamic measurements, and we present the design and construction of a controlled device to measure the torque of industrial exoskeletons, along with the results of static and dynamic testing of this model

Summary

Introduction

Industrial Upper-Limb ExoskeletonWork-related musculoskeletal disorders (WMSDs) are a major concern in working environments [1], and they are often associated with repetitive movements and prolonged unfavorable postures during working shifts. Among WMSDs, shoulder injuries are one of the most severe, accounting for lost working days three times more than those of back injuries [1]. In Brazil, almost 39,000 workers were on sick leaves in 2019 due to WMSDs [3], and shoulder injuries are again among the leading causes [2]. Several tasks in the industry leave workers vulnerable to various injuries risks, which poses threats to factory workers’ health as well as to their employers, and eventually, it may become an economic burden to the society due to therapies, leave period, and lost working days [1]. Working in awkward postures and repetitive motions are among the top 10 causes of disabling injuries in the USA [5] apart from bringing massive costs on medical care and lost-wage expenses [1]

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