Dynamic modeling of an upper limb hybrid exoskeleton for simulations of load-lifting assistance

2021 ◽  
pp. 095440622110246
Author(s):  
Muhammad Ahsan Gull ◽  
Thomas Bak ◽  
Shaoping Bai
Keyword(s):  
Upper Limb ◽  
Static Load ◽  
Peak Torque ◽  
Upper Arm ◽  
Work Related ◽  
Work Related Musculoskeletal Disorders ◽  
Human Forearm ◽  
Lifting Task ◽  
Different Levels ◽  
Loaded Mechanism

Work-related musculoskeletal disorders (MSDs) are among the most commonly reported issue in Europe. Using robotic exoskeletons to support users in performing heavy industrial tasks can effectively mitigate the work-related MSDs. In this paper, a dynamic model of a hybrid exoskeleton is presented to analyze the assistive effect. The exoskeleton in this study is able to passively support the human shoulder joint and actively support the human forearm movements by providing different levels of assistive torque. With the model, two different tasks are simulated, i.e., an overhead lifting task and a static load transferring task. The results show that the assistive torque provided by the passive spring-loaded mechanism reduces the maximum human upper arm effort by 22.65%. Moreover, the exoskeleton elbow joint’s assistive torque reduces the peak torque of human forearm from [Formula: see text] Nm to [Formula: see text] Nm. All these results demonstrate the efficacy of the model developed in the simulation and analysis of human-exoskeleton systems.

scholarly journals Upper Limb Work-Related Musculoskeletal Disorders in Operating Room Nurses: A Multicenter Cross-Sectional Study

2019 ◽  
Vol 16 (16) ◽  
pp. 2844 ◽  
Author(s):  
Marco Clari ◽  
Giacomo Garzaro ◽  
Matteo Di Maso ◽  
Francesca Donato ◽  
Alessandro Godono ◽  
...  
Keyword(s):  
Operating Room ◽  
Musculoskeletal Disorders ◽  
Upper Limb ◽  
Job Characteristics ◽  
Dash Score ◽  
Full Time ◽  
Scrub Nurse ◽  
Work Related ◽  
Operating Room Nurses ◽  
Work Related Musculoskeletal Disorders

This study aimed to evaluate the association between personal and job characteristics and the risk of upper limb work-related musculoskeletal disorders (WMSDs) among operating room nurses (ORNs). To this end, we collected data from 148 ORNs working at 8 Italian hospitals and measured any upper limb disabilities experienced in the previous year using the Italian version of the disabilities of the arm, shoulder and hand (DASH) questionnaire. The associations between personal and job characteristics and risk of upper limb WMSDs were estimated by unconditional logistic regression models. The prevalence of upper limb WMSDs was 45.9%. Multivariate analysis showed the “female gender” and “monthly hours spent working as a scrub nurse” to be directly associated with a higher DASH score (adjusted OR for gender = 5.37, 95% CI: 1.65–17.51, p < 0.01; adjusted OR for monthly hours as scrub nurse = 3.09, 95% CI: 1.33–7.19, p < 0.01). Overall, our findings indicate that a full-time job (>120 h/month) as a scrub nurse significantly increases the risk of developing upper limb WMSDs among female ORNs. Thus, to reduce such risk in this particularly sensitive population, we recommend urgent implementation of ergonomic interventions on surgical equipment alongside job rotation and medical surveillance programs.

scholarly journals A Supernumerary Soft Robotic Limb for Reducing Hand-Arm Vibration Syndromes Risks

2021 ◽  
Vol 8 ◽  
Author(s):  
Andrea S. Ciullo ◽  
Manuel G. Catalano ◽  
Antonio Bicchi ◽  
Arash Ajoudani
Keyword(s):  
Upper Limb ◽  
Robotic Hand ◽  
Body Parts ◽  
New Approach ◽  
Work Related ◽  
Common Causes ◽  
Work Related Musculoskeletal Disorders ◽  
Mass Spring ◽  
New Generation ◽  
Theoretical Considerations

The most common causes of the risk of work-related musculoskeletal disorders (WMSD) have been identified as joint overloading, bad postures, and vibrations. In the last two decades, various solutions ranging from human-robot collaborative systems to robotic exoskeletons have been proposed to mitigate them. More recently, a new approach has been proposed with a high potential in this direction: the supernumerary robotic limbs SRLs are additional robotic body parts (e.g., fingers, legs, and arms) that can be worn by the workers, augmenting their natural ability and reducing the risks of injuries. These systems are generally proposed in the literature for their potentiality of augmenting the user’s ability, but here we would like to explore this kind of technology as a new generation of (personal) protective equipment. A supernumerary robotic upper limb, for example, allows for indirectly interacting with hazardous objects like chemical products or vibrating tools. In particular, in this work, we present a supernumerary robotic limbs system to reduce the vibration transmitted along the arms and minimize the load on the upper limb joints. For this purpose, an off-the-shelf wearable gravity compensation system is integrated with a soft robotic hand and a custom damping wrist, designed starting from theoretical considerations on a mass-spring-damper model. The real efficacy of the system was experimentally tested within a simulated industrial work environment, where seven subjects performed a drilling task on two different materials. Experimental analysis was conducted according to the ISO-5349. Results showed a reduction from 40 to 60% of vibration transmission with respect to the traditional hand drilling using the presented SRL system without compromising the time performance.

scholarly journals A Wearable Sensor System for Physical Ergonomics Interventions Using Haptic Feedback

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6010
Author(s):  
Carl Mikael Lind ◽  
Jose Antonio Diaz-Olivares ◽  
Kaj Lindecrantz ◽  
Jörgen Eklund
Keyword(s):  
Haptic Feedback ◽  
Structured Interview ◽  
Measurement Unit ◽  
Upper Arm ◽  
Feedback Training ◽  
Work Related ◽  
Work Related Musculoskeletal Disorders ◽  
Physical Ergonomics ◽  
Manual Handling ◽  
Work Technique

Work-related musculoskeletal disorders are a major concern globally affecting societies, companies, and individuals. To address this, a new sensor-based system is presented: the Smart Workwear System, aimed at facilitating preventive measures by supporting risk assessments, work design, and work technique training. The system has a module-based platform that enables flexibility of sensor-type utilization, depending on the specific application. A module of the Smart Workwear System that utilizes haptic feedback for work technique training is further presented and evaluated in simulated mail sorting on sixteen novice participants for its potential to reduce adverse arm movements and postures in repetitive manual handling. Upper-arm postures were recorded, using an inertial measurement unit (IMU), perceived pain/discomfort with the Borg CR10-scale, and user experience with a semi-structured interview. This study shows that the use of haptic feedback for work technique training has the potential to significantly reduce the time in adverse upper-arm postures after short periods of training. The haptic feedback was experienced positive and usable by the participants and was effective in supporting learning of how to improve postures and movements. It is concluded that this type of sensorized system, using haptic feedback training, is promising for the future, especially when organizations are introducing newly employed staff, when teaching ergonomics to employees in physically demanding jobs, and when performing ergonomics interventions.

scholarly journals Rapid upper limb assessment (RULA) in ergonomic assessment: A comprehensive review

2019 ◽  
Vol 9 (3) ◽  
pp. 429-437
Author(s):  
Ajay Kumar ◽  
Surendra Kamath
Keyword(s):  
Musculoskeletal Disorders ◽  
Upper Limb ◽  
Comprehensive Analysis ◽  
Survey Method ◽  
Inclusion Criteria ◽  
Comprehensive Review ◽  
Work Related ◽  
Work Related Musculoskeletal Disorders ◽  
Upper Limb Disorders ◽  
Keywords Ergonomics

INTRODUCTION: RULA (rapid upper limb assessment) is a survey method developed for use in ergonomics investigations of workplaces where work-related upper limb disorders are reported. There are various researches available regarding the use of RULA in assessing work-related musculoskeletal disorders (WRMSDs). But till date, there is no compiled review available regarding the comprehensive research on the uses of RULA in various ergonomic assessment. OBJECTIVE: To compile the availability of article related to the uses of RULA in assessing WRMSDs among workers from various fields. MATERIALS AND METHODS: The articles related to RULA in ergonomic assessment were searched using the reputed academic databases, including PubMed, Medline, CINAHL, PsycINFO, and EBSCO from inception to July 22, 2019 using the five keywords, “ergonomics,” “musculoskeletal,” “workplace,” and “rapid upper limb assessment.” These keywords were combined using the Boolean operators “AND,” “OR,” and “NOT.” RESULTS: A total of 263 articles (n=263) were identified. After the removal of 161 duplicate articles, 102 articles were screened for the analysis. Among then, 21 articles were excluded and 81 full-text articles were assessed for eligibility. Again 68 articles were excluded due to not meeting the inclusion criteria and finally 13 articles were included in the qualitative comprehensive analysis. CONCLUSION: The wider application of RULA has been confirmed from this comprehensive review.

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