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 proceedingChapterAcademicpeer-review

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 languageEnglish
Title of host publicationWearable Robotics: Challenges and Trends
Subtitle of host publicationProceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020
EditorsJuan C. Moreno, Jawad Masood, Urs Schneider, Christophe Maufroy, Jose L. Pons
PublisherSpringer Science and Business Media Deutschland GmbH
Pages189-193
Number of pages5
ISBN (Electronic)9783030695477
ISBN (Print)9783030695460, 9783030695491
DOIs
Publication statusPublished - 2022

Publication series

NameBiosystems and Biorobotics
Volume27
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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