Method, Design, and Evaluation of an Exoskeleton for Lifting a Load In Situ

Abstract

Due to the unclear application scenarios and force analysis of exoskeletons, there exists a research gap in exoskeleton design. This paper presents a design method and realization of an exoskeleton for a specific scenario of lifting a load in situ. Firstly, the lifting motion process and its data were collected based on a 3-D motion capture system and dynamometer treadmill system. Then, the variations of the torque and motion of each joint were obtained from the data analysis, based on which an active assistance mode for upper limbs and a passive assistance mode for lower limbs were demonstrated. In this design, the hydraulic cylinder for shoulder assistance, the motor for elbow assistance, and the spring for lower limb assistance were calculated and selected according to the motion and torque of each joint. Finally, subjective and objective methods were used to evaluate the exoskeleton based on the results of five test participants, and the median oxygen consumption of the whole test by lifting a load ten times with the assistance was found to be reduced by 9.45% as compared with that in the absence of the exoskeleton.