Model-Based Biomechanical Exoskeleton Concept Optimization for a Representative Lifting Task in Logistics

Jonas Schiebl (), Mark Tröster, Wiem Idoudi, Elena Gneiting, Leon Spies, Christophe Maufroy, Urs Schneider and Thomas Bauernhansl
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Jonas Schiebl: Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
Mark Tröster: Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
Wiem Idoudi: Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
Elena Gneiting: Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
Leon Spies: Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
Christophe Maufroy: Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
Urs Schneider: Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
Thomas Bauernhansl: Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany

IJERPH, 2022, vol. 19, issue 23, 1-22

Abstract: Occupational exoskeletons are a promising solution to prevent work-related musculoskeletal disorders (WMSDs). However, there are no established systems that support heavy lifting to shoulder height. Thus, this work presents a model-based analysis of heavy lifting activities and subsequent exoskeleton concept optimization. Six motion sequences were captured in the laboratory for three subjects and analyzed in multibody simulations with respect to muscle activities (MAs) and joint forces (JFs). The most strenuous sequence was selected and utilized in further simulations of a human model connected to 32 exoskeleton concept variants. Six simulated concepts were compared concerning occurring JFs and MAs as well as interaction loads in the exoskeleton arm interfaces. Symmetric uplifting of a 21 kg box from hip to shoulder height was identified as the most strenuous motion sequence with highly loaded arms, shoulders, and back. Six concept variants reduced mean JFs (spine: >70%, glenohumeral joint: >69%) and MAs (back: >63%, shoulder: >59% in five concepts). Parasitic loads in the arm bracing varied strongly among variants. An exoskeleton design was identified that effectively supports heavy lifting, combining high musculoskeletal relief and low parasitic loads. The applied workflow can help developers in the optimization of exoskeletons.

Keywords: logistics; ergonomics; manual work; exoskeleton; assistive systems; musculoskeletal modeling; multibody simulation; AnyBody Modeling System; activities above shoulder height; heavy lifting (search for similar items in EconPapers)
JEL-codes: I I1 I3 Q Q5 (search for similar items in EconPapers)
Date: 2022
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