Back-Support Exoskeleton Control Using User’s Torso Acceleration and Velocity to Assist Manual Material Handling

Maria Lazzaroni; Ali Tabasi; Stefano Toxiri; Darwin G. Caldwell; Idsart Kingma; Elena De Momi; Jesús Ortiz

doi:10.1007/978-3-030-69547-7_31

Back-Support Exoskeleton Control Using User’s Torso Acceleration and Velocity to Assist Manual Material Handling

Maria Lazzaroni^*, Ali Tabasi, Stefano Toxiri, Darwin G. Caldwell, Idsart Kingma, Elena De Momi, Jesús Ortiz

^*Corresponding author for this work

Research output: Chapter in Book / Report / Conference proceeding › Chapter › Academic › peer-review

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Abstract

This work analyzes the use of users’ dynamics to define the assistance of a back-support exoskeleton for assisting manual material handling. Exploiting the acceleration and velocity of the user’s torso on the sagittal plane allows to distinguish between lifting and lowering phases and accordingly adapt the assistance. Theoretical and practical issues of strategy implementation are discussed.

Original language	English
Title of host publication	Wearable Robotics: Challenges and Trends
Subtitle of host publication	Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020
Editors	Juan C. Moreno, Jawad Masood, Urs Schneider, Christophe Maufroy, Jose L. Pons
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	189-193
Number of pages	5
ISBN (Electronic)	9783030695477
ISBN (Print)	9783030695460, 9783030695491
DOIs	https://doi.org/10.1007/978-3-030-69547-7_31
Publication status	Published - 2022

Publication series

Name	Biosystems and Biorobotics
Volume	27
ISSN (Print)	2195-3562
ISSN (Electronic)	2195-3570

Bibliographical note

Funding Information:
Work funded by the Italian Workers’ Compensation Authority (INAIL).

Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

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10.1007/978-3-030-69547-7_31

Back-Support Exoskeleton Control Using User’s Torso Acceleration and Velocity to Assist Manual Material HandlingBack-Support Exoskeleton Control Using User’s Torso Acceleration and Velocity to Assist Manual Material HandlingFinal published version, 215 KBLicence: Article 25fa Dutch Copyright Act

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Lazzaroni, M., Tabasi, A., Toxiri, S., Caldwell, D. G., Kingma, I., De Momi, E., & Ortiz, J. (2022). Back-Support Exoskeleton Control Using User’s Torso Acceleration and Velocity to Assist Manual Material Handling. In J. C. Moreno, J. Masood, U. Schneider, C. Maufroy, & J. L. Pons (Eds.), Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020 (pp. 189-193). (Biosystems and Biorobotics; Vol. 27). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-69547-7_31

Lazzaroni, Maria ; Tabasi, Ali ; Toxiri, Stefano et al. / Back-Support Exoskeleton Control Using User’s Torso Acceleration and Velocity to Assist Manual Material Handling. Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020. editor / Juan C. Moreno ; Jawad Masood ; Urs Schneider ; Christophe Maufroy ; Jose L. Pons. Springer Science and Business Media Deutschland GmbH, 2022. pp. 189-193 (Biosystems and Biorobotics).

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abstract = "This work analyzes the use of users{\textquoteright} dynamics to define the assistance of a back-support exoskeleton for assisting manual material handling. Exploiting the acceleration and velocity of the user{\textquoteright}s torso on the sagittal plane allows to distinguish between lifting and lowering phases and accordingly adapt the assistance. Theoretical and practical issues of strategy implementation are discussed.",

author = "Maria Lazzaroni and Ali Tabasi and Stefano Toxiri and Caldwell, {Darwin G.} and Idsart Kingma and {De Momi}, Elena and Jes{\'u}s Ortiz",

note = "Funding Information: Work funded by the Italian Workers{\textquoteright} Compensation Authority (INAIL). Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.",

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Lazzaroni, M, Tabasi, A, Toxiri, S, Caldwell, DG, Kingma, I, De Momi, E & Ortiz, J 2022, Back-Support Exoskeleton Control Using User’s Torso Acceleration and Velocity to Assist Manual Material Handling. in JC Moreno, J Masood, U Schneider, C Maufroy & JL Pons (eds), Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020. Biosystems and Biorobotics, vol. 27, Springer Science and Business Media Deutschland GmbH, pp. 189-193. https://doi.org/10.1007/978-3-030-69547-7_31

Back-Support Exoskeleton Control Using User’s Torso Acceleration and Velocity to Assist Manual Material Handling. / Lazzaroni, Maria; Tabasi, Ali; Toxiri, Stefano et al.
Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020. ed. / Juan C. Moreno; Jawad Masood; Urs Schneider; Christophe Maufroy; Jose L. Pons. Springer Science and Business Media Deutschland GmbH, 2022. p. 189-193 (Biosystems and Biorobotics; Vol. 27).

Research output: Chapter in Book / Report / Conference proceeding › Chapter › Academic › peer-review

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AU - De Momi, Elena

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Lazzaroni M, Tabasi A, Toxiri S, Caldwell DG, Kingma I, De Momi E et al. Back-Support Exoskeleton Control Using User’s Torso Acceleration and Velocity to Assist Manual Material Handling. In Moreno JC, Masood J, Schneider U, Maufroy C, Pons JL, editors, Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020. Springer Science and Business Media Deutschland GmbH. 2022. p. 189-193. (Biosystems and Biorobotics). Epub 2021 Jul 2. doi: 10.1007/978-3-030-69547-7_31

Back-Support Exoskeleton Control Using User’s Torso Acceleration and Velocity to Assist Manual Material Handling

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