Robotics Laboratory Research Articles

Impact and Outcomes of a Pediatric Robotic Urology Mini-Fellowship.

Introduction: In order to support practicing pediatric surgeons and urologists to safely and effectively incorporate robotic surgery into their practice, we established a 5-day mini-fellowship program with a mentor, preceptor and proctor at our institution. This study was designed to report our experience with the pediatric robotic mini-fellowship (PRM) and to evaluate the impact this course had on the participants' practice.Methods: The mini-fellowship training at our institution is provided in two modules, including upper and lower urinary tract surgery, over a 5-day period. The one to one teacher-to-attendee experience included tutorial sessions, hands-on inanimate, and animate skills training, clinical case observations and video discussions. Participants were asked to complete a detailed questionnaire on their practice patterns before and after the PRM.Results: Between 2012 and 2018, a total of 29 national and international pediatric surgeons and urologists underwent robotic renal and bladder surgery training. Twenty-six fellows (90%) completed the surveys, all of which were included for analysis. The median age at the time of fellowship was 43 years (32–63), and participants had practiced urology for a median of 76 months (3–372). All of them had a laparoscopic background, with a median experience of 120 months (12–372), and an average of 454 (± 703) laparoscopic procedures performed, including the years of training. The most common primary goals of participants were to understand the concept of robotic surgery and its applications (38.5%), and to practice in the wet lab to shorten their learning curve (38.5%). After PRM completion, 24 graduates (92%) felt likely to incorporate robotic surgery into their practice, of which 15 (58%) actually started a robotic program at their home institution. At 24 months after PRM completion, the overall number of surgeries performed with a robotic approach (RA) by these 15 participants was 478 with an average of 32 (± 44) procedures per fellow, of which 109 (23%) were extirpative (nephrectomy, partial nephrectomy, etc.), and 369 (77%) reconstructive procedures (pyeloplasty, ureteral reimplantation, etc.). Before PRM, the same 15 participants performed 844 procedures with a laparoscopic approach (LA), of which 527 (62.4%) were extirpative, and 317 (37.6%) were reconstructive surgeries. These data mark a significant switch in indications for minimally invasive surgery (MIS) in pediatric urology. The rise in the number of reconstructive procedures (37.6% LA vs. 77% RA) has shown that robotic surgery has undoubtedly facilitated the performance of more challenging procedures in a minimally invasive fashion.Conclusion: The success of a mini-fellowship program relies on the commitment of expert faculty to serve as tutorial instructors and proctors. In addition, a completely outfitted robotic laboratory with access to dry and wet lab is indispensable. A 5-day intensive PRM appears to enable postgraduate surgeons to successfully incorporate the robotic platform into their practice and to advance the complexity of minimally invasive procedures, allowing for more challenging surgeries, such as reconstructive urology.

CIRA Preliminary Roadmap for the Development of Mars Research Project

Human and robotic exploration is foreseen to be one of the next steps in human space colonization, and it is growing the common vision that Moon, on the pathway to Mars, is the outpost to extend human presence in deep space. At the same time, technologies and knowledge derived from space exploration tests, key factors for a more affordable, easier and quicker access to Space, will expand our understanding of the Universe, and create economic opportunities. In this scenario, CIRA intends to support the national community, involved in space colonization projects, through the Mars research project. The project is conceived as a technology-driven effort aimed at maturing a number of technologies and engineering tools necessary to enable future space exploration and colonization missions. Indeed, the project goal is to develop experimental infrastructures and necessary competences for future human and robotic Martian, Lunar and cis-Lunar exploration and colonization missions, supporting industries, universities and national research centres, to meet the challenges of this extremely promising and competitive sector. The present paper gives an overview of CIRA development plan related to Moon and Mars exploration and colonization, focusing on the design and realization of test analogue facilities and the development of enabling technologies. In the definition of the roadmap, a particular emphasis will be given to the facilities concept proposed and constituted by the following research areas: Environmental facility, Robotic laboratory, Aeolic Tunnel and Life Support System area.

Experimental Validation of Pseudospectral-Based Optimal Trajectory Planning for Free-Floating Robots

This paper proposes the use of pseudospectral methods to solve the nonlinear trajectory planning problem for free-floating robots. Specifically, three different optimization tools are analyzed. Using each tool, simulations are performed, and it is shown that each solver is capable of finding a deployment trajectory that minimizes the final attitude of a free-floating robot. Each solution is then validated using Pontryagin’s minimum principle and Bellman’s principle of optimality, as well as by propagating the control torques using a numerical integrator and the dynamics model. Experimental validation is performed at Carleton University’s Spacecraft Robotics and Control Laboratory to further investigate the solutions obtained from each tool. Ultimately, it was determined that all solutions resulted in a reduced attitude disturbance at the end of the robotic deployment maneuver.

Chaos Stabilization and Tracking Recovery of a Faulty Humanoid Robot Arm in a Cooperative Scenario

Synchronised motion is an important requirement for two cooperating humanoid robot arms. In this work a cooperative scenario is considered where two humanoid robot arms (using 4DOF each, namely Shoulder Flexion Joint, Shoulder abduction Joint, Humeral rotation joint and Elbow Flexion Joint) motion are synchronized. The master robot arm is controlled by a sliding mode controller and the slave robot arm is synchronized using a basic PD plus adaptive control, employing the position and velocity errors between the master and the slave. During the operation, if a joint of the slave robot arm saturates or malfunctions (for instance, Elbow flexion joint does not respond or free swinging), consequently, slave robot arm will go into chaos (i.e., chaotic motion of the end effector). In this case, a chaos controller kicks in to recover and re-synchronize the motion of the slave robot arm end effector. This re-synchronization is extremely important to complete the task in hand to address any safety issues arising from any joint malfunction of the slave robot. Effectiveness of the scheme is tested in simulation using Bristol Robotics Laboratory Humanoid BERT II arms.

Clear directions for a robotic platform

Chemistry The chemistry literature contains more than a century's worth of instructions for making molecules, all written by and for humans. Steiner et al. developed an autonomous compiler and robotic laboratory platform to synthesize organic compounds on the basis of standardized methods descriptions (see the Perspective by Milo). The platform comprises conventional equipment such as round-bottom flasks, separatory funnels, and a rotary evaporator to maximize its compatibility with extant literature. The authors showcase the system with short syntheses of three common pharmaceuticals that proceeded comparably to manual synthesis. Science , this issue p. [eaav2211][1]; see also p. [122][2] [1]: /lookup/doi/10.1126/science.aav2211 [2]: /lookup/doi/10.1126/science.aav8816

A High-Throughput System for Transient and Stable Protein Production in Mammalian Cells.

Recombinant protein expression and purification is an essential component of biomedical research and drug discovery. Advances in automation and laboratory robotics have enabled the development of highly parallel and rapid processes for cell culture and protein expression, purification, and analysis. Human embryonic kidney (HEK) cells and Chinese hamster ovary (CHO) cells have emerged as the standard host cell workhorses for producing recombinant secreted mammalian proteins by using both transient and stable production strategies. In this chapter we describe a fully automated custom platform, Protein Expression and Purification Platform (PEPP), used for transient protein production from HEK cells and stable protein production from CHO cells. Central to PEPP operation is a suite of custom robotic and instrumentation platforms designed and built at GNF, custom cell culture ware, and custom scheduling software referred to as Runtime. The PEPP platform enables cost-effective, facile, consistent production of proteins at quantities and quality useful for early stage drug discovery tasks such as screening, bioassays, protein engineering, and analytics.

Development and Ground Evaluation of Ground-Target Tracking Control of Microsatellite RISESAT

Space Robotics Laboratory (SRL) of Tohoku University is currently developing a 50-kg-class Earth observation satellite "RISESAT". In this paper, we propose a new ground-target tracking control algorithm and attitude control system for RISESAT. The primal mission of RISESAT is multi-spectral observation of the Earth surface using a 5 m GSD High-Precision-Telescope (HPT) with liquid crystal tunable filters. During an observation, the HPT takes a dozen images of a ground target by changing observation bands. General Earth observation satellites using push-broom cameras require high attitude stability to obtain continuous images. However, RISESAT has to track a ground target with an accuracy of 0.1° and 0.008°/s attitude stability because imaging and wavelength switching take few seconds in total. Therefore, we propose a new ground-target tracking algorithm which can keep orientation of ground-target image to a constant direction which satellite operator requires. Evaluations of the algorithms were carried out by hardware-in-the-loop simulator "MEVIμS" which is a satellite system verification environment developed by SRL. We confirm that the algorithm satisfies the mission requirements under the influence of sensor noise and computation time limits.

Machine learning and molecular descriptors enable rational solvent selection in asymmetric catalysis.

Rational solvent selection remains a significant challenge in process development. Here we describe a hybrid mechanistic-machine learning approach, geared towards automated process development workflow. A library of 459 solvents was used, for which 12 conventional molecular descriptors, two reaction-specific descriptors, and additional descriptors based on screening charge density, were calculated. Gaussian process surrogate models were trained on experimental data from a Rh(CO)2(acac)/Josiphos catalysed asymmetric hydrogenation of a chiral α-β unsaturated γ-lactam. With two simultaneous objectives - high conversion and high diastereomeric excess - the multi-objective algorithm, trained on the initial dataset of 25 solvents, has identified solvents leading to better reaction outcomes. In addition to being a powerful design of experiments (DoE) methodology, the resulting Gaussian process surrogate model for conversion is, in statistical terms, predictive, with a cross-validation correlation coefficient of 0.84. After identifying promising solvents, the composition of solvent mixtures and optimal reaction temperature were found using a black-box Bayesian optimisation. We then demonstrated the application of a new genetic programming approach to select an appropriate machine learning model for a specific physical system, which should allow the transition of the overall process development workflow into the future robotic laboratories.

Polyphenols from Red Vine Leaves Using Alternative Processing Techniques

The extraction kinetics of polyphenols, which are leached from red vine leaves, are studied and evaluated using a laboratory robot and nonconventional processing techniques such as ultrasonic (US)-, microwave (MW)-, and pulsed electric field (PEF)-assisted extraction processes. The robotic high-throughput screening reveals optimal extraction conditions at a pH value of 2.5, a temperature of 56 °C, and a solvent mixture of methanol:water:HCl of 50:49:1 v/v/v. Nonconventional processing techniques, such as MW- and US-assisted extraction, have the fastest kinetics and produce the highest polyphenol yield. The non-conventional techniques yield is 2.29 g/L (MW) resp. 2.47 g/L (US) for particles that range in size from 450 to 2000 µm and 2.20 g/L (MW) resp. 2.05 g/L (US) for particles that range from 2000 to 4000 µm. PEF has the lowest yield of polyphenols with 0.94 g/L (450–2000 µm), resp. 0.64 g/L (2000–4000 µm) in comparison to 1.82 g/L (2000 to 4000 µm) in a standard stirred vessel (50 °C). When undried red vine leaves (2000 to 4000 µm) are used the total phenol content is 1.44 g/L with PEF.

Applied Force during Piston Prosthesis Placement in a 3D-Printed Model: Freehand vs Robot-Assisted Techniques.

To describe a 3D-printed middle ear model that quantifies the force applied to the modeled incus. To compare the forces applied during placement and crimping of a stapes prosthesis between the Robotic ENT Microsurgery System ( REMS) and the freehand technique in this model. Prospective feasibility study. Robotics laboratory. A middle ear model was designed and 3D printed to facilitate placement and crimping of a piston prosthesis. The modeled incus was mounted to a 6-degree of freedom force sensor to measure forces/torques applied on the incus. Six participants-1 fellowship-trained neurotologist, 2 neurotology fellows, and 3 otolaryngology-head and neck surgery residents-placed and crimped a piston prosthesis in this model, 3 times freehand and 3 times REMS assisted. Maximum force applied to the incus was then calculated for prosthesis placement and crimping from force/torque sensor readings for each trial. Robotic and freehand outcomes were compared with a linear regression model. Mean maximum magnitude of force during prosthesis placement was 126.4 ± 73.6 mN and 105.0 ± 69.4 mN for the freehand and robotic techniques, respectively ( P = .404). For prosthesis crimping, the mean maximum magnitude of force was 469.3 ± 225.2 mN for the freehand technique and 272.7 ± 97.4 mN for the robotic technique ( P = .049). Preliminary data demonstrate that REMS-assisted stapes prosthesis placement and crimping are feasible with a significant reduction in maximum force applied to the incus during crimping with the REMS in comparison with freehand.

A MATLAB-based virtual robotics laboratory: Demonstrated by a two-wheeled inverted pendulum

In this paper, a procedure for designing a MATLAB-based virtual robotics laboratory is described that provides a realistic three-dimensional animation for the robot’s motion. The proposed laboratory allows students to obtain the linear model and stability condition of a robotic system, without getting involved in its mathematical modeling. The structure of a two-wheeled inverted pendulum robot has been used for demonstrating the laboratory’s features. As part of this virtual experiment, design and evaluation of proportional–integral–derivative, model predictive control, and fuzzy controllers for maintaining the two-wheeled inverted pendulum’s balance are considered. A set of graphical–user interfaces is designed for providing the interaction with the system. This virtual lab is readily extensible for other robotics structures and controllers, and its output data is promptly available for further analysis by other MATLAB toolboxes.

Vision techniques for on‐board detection, following, and mapping of moving targets

AbstractThis study presents computer vision modules of a multi‐unmanned aerial vehicle (UAV) system, which scored gold, silver, and bronze medals at the Mohamed Bin Zayed International Robotics Challenge 2017. This autonomous system, which was running completely on board and in real time, had to address two complex tasks in challenging outdoor conditions. In the first task, an autonomous UAV had to find, track, and land on a human‐driven car moving at 15 km/hr on a figure‐eight‐shaped track. During the second task, a group of three UAVs had to find small colored objects in a wide area, pick them up, and deliver them into a specified drop‐off zone. The computer vision modules presented here achieved computationally efficient detection, accurate localization, robust velocity estimation, and reliable future position prediction of both the colored objects and the car. These properties had to be achieved in adverse outdoor environments with changing light conditions. Lighting varied from intense direct sunlight with sharp shadows cast over the objects by the UAV itself, to reduced visibility caused by overcast to dust and sand in the air. The results presented in this paper demonstrate good performance of the modules both during testing, which took place in the harsh desert environment of the central area of United Arab Emirates, as well as during the contest, which took place at a racing complex in the urban, near‐sea location of Abu Dhabi. The stability and reliability of these modules contributed to the overall result of the contest, where our multi‐UAV system outperformed teams from world’s leading robotic laboratories in two challenging scenarios.

The robot-assisted system YunSRobot for soft endoscopy: a trial of remote manipulation on simulation models

Objective: To evaluate the feasibility and safety of the robot-assisted system YunSRobot for remote manipulation endoscopy. Methods: When the master of YunSRobot was installed in the gastroenterology office in Chinese PLA General Hospital, the robot slave and upper gastrointestinal simulation model (Takahashi Lm103, Japan) were installed at the same time in the State Key Laboratory of Robotics, Shenyang Institute of Automation. Three physicians were trained to operate the master robotics and performed gastroscopy on the simulation model based on network cloud. Each physician performed 3 procedures of oesophagogastroduodenoscopy (EGD) by YunSRobot using traditional manual endoscopy, on-site operating mode, and remote manipulation mode, respectively. The operating time, lumenal anatomic exposure, man-machine interaction and other parameters were recorded. Results: The number of standard pictures obtained by traditional manual endoscopy group, on-site operating group and remote manipulation group were 39.9±0.3, 39.8±0.4, 39.9±0.3, respectively. The images of all five lesions could be obtained by each operation. The operating time in the duodenum of remote group was longer than that of on-site group, with average time (78.2±16.0)s vs. (68.9±15.8)s (P=0.021) respectively. As to the operating time on other parts or total time, all three groups were comparable. Although there was a mean delay of (572.1±48.5) ms in remote operation group, the operation was still smooth. However, compared with on-site group, the percentage of clear view time in the duodenum was significantly shortened in remote group: [(77.8±8.2)% vs. (83.9±6.4)%, P=0.024]. Statistically significant difference was detected in percentage of clear view time neither in other sites, nor was in the total operating time between two groups. The operating time in each part of remote group was obviously longer than that of manual group as followings, pharyngeal (27.3±4.2) s vs. (9.2±1.3)s (P<0.001), esophageal (29.7±6.4)s vs. (19.3±1.6)s (P=0.004), stomach (56.7±17.0)s vs. (40.3±7.0)s (P=0.003), pylorus (20.2±5.5)s vs. (9.3±1.3)s (P<0.001), duodenum (78.2±16.0)s vs. (29.3±5.6)s (P<0.001). Thus the total operating time was also longer in remote group as (559.0±87.2)s vs. (253.1±16.6)s (P<0.001). The respective time in pharynx, esophagus, stomach, pylorus, duodenum, or the overall time was all longer in remote group than that in manual group. Conclusions: The soft endoscopy robot YunSRobot has satisfactory safety and stability. Remote upper gastrointestinal endoscopy can be completed based on common network and an endoscope simulation model with smooth operation. The inspection time by YunSRobot robot per part and the overall time are longer than those of manual operation on site, still, remote operating time meets the standard of upper gastrointestinal endoscopy.

Organic synthesis in a modular robotic system driven by a chemical programming language

The synthesis of complex organic compounds is largely a manual process that is often incompletely documented. To address these shortcomings, we developed an abstraction that maps commonly reported methodological instructions into discrete steps amenable to automation. These unit operations were implemented in a modular robotic platform by using a chemical programming language that formalizes and controls the assembly of the molecules. We validated the concept by directing the automated system to synthesize three pharmaceutical compounds, diphenhydramine hydrochloride, rufinamide, and sildenafil, without any human intervention. Yields and purities of products and intermediates were comparable to or better than those achieved manually. The syntheses are captured as digital code that can be published, versioned, and transferred flexibly between platforms with no modification, thereby greatly enhancing reproducibility and reliable access to complex molecules.

Using telepresence for social connection: views of older people with dementia, families, and health professionals from a mixed methods pilot study

Objectives: To explore the acceptability of telepresence robots in dementia care from the perspectives of people with dementia, family carers, and health professionals/trainees, and investigate the utility of a social presence assessment tool, the Modified-Temple Presence Inventory (Modified-TPI), for people with dementia.Method: A mixed-methods pilot study conducted in a social robotics laboratory. Three participant groups (n = 22) – dyads of people with dementia and their carers (n = 5 respectively), and health professionals/trainees (n = 12) – participated in individual one-off intervention sessions with the telepresence robot, Giraff, with follow-up interviews. Sessions covered how to use Giraff, followed by interactive practice in making a video-call involving conversation and manoeuvring of Giraff. Participants with dementia experienced receiving a call made by their carer; healthcare professionals/trainees experienced making and receiving a call. Outcomes of interest were sense of presence [Modified-TPI], affective response (International Positive and Negative Affect Schedule [I-PANAS-S]; Observable Displays of Affect Scale [ODAS]), and attitudes and reactions to Giraff (semi-structured interviews).Results: Participants reported a sense of authenticity and social connection through the experience. They indicated positive social presence through Giraff, and significantly higher positive (mean score 18.77; ±4.00) than negative affect (mean score 8.05; ±1.76) on the I-PANAS-SF, and on the facial display subscale of the ODAS (positive – mean score 15.50; ±3.51 versus negative – mean score 4.00; ±0.00).Conclusion: Telepresence has potential use in situations where people with dementia require social connection. Studies with larger sample sizes, varied characteristics, and cost-effectiveness analysis are needed to inform the application of telepresence in healthcare practice.

The Pransky interview: Professor Robin R. Murphy, Co-founder of the Field of Disaster Robotics and Founder of Roboticists Without Borders

Purpose This paper is a “Q&amp;A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful innovator and leader regarding the challenges of bringing technological discoveries to fruition. This paper aims to discuss these issues. Design/methodology/approach The interviewee is Dr Robin R. Murphy, Raytheon Professor of Computer Science and Engineering, Texas A&amp;M University; Co-lead, Emergency Informatics EDGE Innovation Network Center, Texas A&amp;M, Director of the Humanitarian Robotics and AI Laboratory and Vice President of the Center for Robot-Assisted Search and Rescue (CRASAR) http://crasar.org. In this interview, Dr Murphy provides answers to questions regarding her pioneering experiences in rescue robotics. Findings As a child, Dr Murphy knew she wanted to be a mechanical engineer and obtained her BME degree from Georgia Institute of Technology (Georgia Tech). While working in industry after her BME, she fell in love with computer science and received an MS and PhD in Computer Science at Georgia Tech where she was a Rockwell International Doctoral Fellow. In the mid-1990s, while teaching at the Colorado School of Mines, she pioneered rescue robots after one of her graduate students returned from the Oklahoma City bombing and suggested that small rescue robots should be developed for future disasters. The National Science Foundation awarded Murphy and her students the first grant for search-and-rescue robots. She has since assisted in responses at more than 20 worldwide disasters, including Hurricane Katrina, the Crandall Canyon Mine collapse, the Tohoku Tsunami and the Fukushima Daiichi nuclear accident. Originality/value The response to the World Trade Center attacks after September 11, 2001 by Dr Murphy’s team from the University of South Florida (the only academic institution), along with four other teams brought together by CRASAR, marked the first recorded use of a rescue robot at a disaster site. In addition to being a founder in the field of rescue robots, she is also a founder in the field of human–robot interaction and the Roboticists Without Borders. She has written over 100 publications and three books: the best-selling textbook, Introduction to AI Robotics, Disaster Robotics and Robotics-Through-Science-Fiction: Artificial Intelligence Explained Six Classic Robot Short Stories. Dr Murphy has received approximately 20 national awards and honors including: the AUVSI’s Al Aube Outstanding Contributor Award, the Eugene L. Lawler Award for Humanitarian Contributions within Computer Science and Informatics, CMU Field Robotics Institute “Pioneer in Field Robotics” and TIME Magazine, Innovators in Artificial Intelligence. She is an IEEE Fellow.

Stabilization System of a Bipedal non-anthropomorphic Robot AnyWalker

We present a bipedal walking non-anthropomorphic robot AnyWalker developed in the laboratory of robotics and mechatronics of the Kuban State University. The goal is to be able to overcome obstacles exceeding the size of the robot itself. In addition to the degrees of freedom due to the joints between the links, the robot is equipped with reaction wheels enhancing its dynamic stabilization capabilities. This paper presents a study of the stability zones in the frontal plane of the robot with and without the reaction wheel support.

Construction of the Course System of Mechanical and Electronic Specialty for Applied Undergraduate Course -- Teaching Direction of Industrial Robot

Under the background of “Internet + Made in China 2025” production and education integration innovation promotion plan. According to the professional uniqueness and social needs of applied undergraduate education. Take the teaching direction of industrial robots in the field of mechanical electronics as an example. The paper proposed the teaching of professional basic courses as the basis, the professional direction of curriculum teaching as the focus, professional quality and innovative entrepreneurship education curriculum as a fundamental, three training courses for the innovation of the curriculum system. All kinds of courses include in-class courses (the first class) and extra-curricular courses (the second class), the two classes with other courses, enrich the entire teaching system. And through the series of industrial robotic laboratory construction and management model innovations, it can achieve the true experience of students’ corporate life and the wide range of students’ second classroom activities; it can cultivate excellent applied talents.

Virtual Experiments Design for Robotics Based on V-REP

Compared with traditional robot laboratory, virtual robot laboratory integrates programming, modeling and controlling, which can assist related learning of robot courses more efficiently and directly under the condition of saving time and equipment cost. A concept of virtual robotics laboratory based on virtual robot platform V-REP is proposed in this paper. The laboratory is divided into coordinate transformation, positive and inverse kinematics, dynamics and trajectory planning. At the same time, virtual teaching tasks of comprehensive course design for robotics is also proposed to improve students’ capacity for designing virtual robots comprehensively and improve teaching quality.

Evaluation of an adjustable support shoulder exoskeleton on static and dynamic overhead tasks

Introduction: Overhead tasks increase the risk of work related musculoskeletal disorders to industrial workers. A shoulder supporting exoskeleton with adjustable and angle dependent torque (referred to as shoulderX in this paper for brevity) was designed and built at the University of California Berkeley Human Engineering and Robotics Laboratory for workers performing overhead tasks. shoulderX was designed specifically to reduce the exposure to large muscle exertion forces on the shoulder complex from overhead work. Methods: We evaluated shoulderX by measuring the muscle activation of the upper trapezius (UT), anterior deltoid (AD), triceps long head (TR), and infraspinatus (IF) during static and dynamic overhead tasks. Thirteen male subjects with experience in the construction or manufacturing industries were recruited to perform overhead tasks using light (.45 kg) and heavy (2.25 kg) weight tools with four exoskeleton support levels (0, 8.5, 13.0, 20.0 Nm peak torque). Results: During all conditions, the wearer’s shoulder flexor muscle activity of UT, AD were reduced with increasing strength of shoulderX by up to 80%. Subjects unanimously preferred the use of shoulderX over the unassisted condition for all task types (static and dynamic overhead tasks) and tool weights (.45 kg and 2.25 kg). Conclusion: shoulderX reduces the wearer’s primary muscle activity in overhead static and dynamic work and results in a more desirable and balanced pattern of shoulder complex activation. This investigation indicates that shoulderX reduces the risk of work related shoulder injuries during overhead tasks.