Passive exosuit emulator for material handling applications

Abstract

The paper introduces a passive back-assist exosuit (BASE) emulator system for manual material handling applications. The presented emulator has a fabric brace mounted modular moment arm, onboard load cells for measuring device interaction forces, and a synchronized EMG system. The design permits studies for experimenting with different elastic elements and their routing and moment arm configuration to establish biomechanical and physiological understanding before exosuits development. Human trials were conducted to demonstrate the usability of the presented emulator during the lifting/lowering task. Three different moment arm configurations (C1, C2, and C3) were tested for their effect on the muscle activity, device-to-body forces, and perceived discomfort during a lifting/lowering task. The configuration C2 was found to produce the least body to device forces (at shoulder and waist). While the maximum reduction of 16.7% in erecter spine muscle activity was observed for C3 configuration compared to when no Exosuit was used. The emulator could be used to understand biomechanics for different exosuit configurations during manual handling tasks. The understanding from the emulator will aid the development of future passive back assist devices for rehabilitation and occupational use.