The Influence of Circular Physical Human–Machine Interfaces of Three Shoulder Exoskeletons on Tissue Oxygenation

Author:

Linnenberg Christine1ORCID,Reimeir Benjamin12,Eberle Robert3,Weidner Robert14ORCID

Affiliation:

1. Chair for Production Technology, Institute for Mechatronics, Universität Innsbruck, Technikerstraße 13, 6020 Innsbruck, Austria

2. Department of Sport Science, Universität Innsbruck, Fürstenweg 185, 6020 Innsbruck, Austria

3. Unit of Engineering Mathematics, Department of Mathematics, Universität Innsbruck, Technikerstraße 13, 6020 Innsbruck, Austria

4. Laboratory for Manufacturing Technology, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Holstenhofweg 85, 22043 Hamburg, Germany

Abstract

Occupational shoulder exoskeletons need to provide meaningful torques to achieve the desired support, thereby high pressures can occur within the physical human–machine interface (pHMI) of exoskeletons that may lead to discomfort, pain, or soft tissue injuries. This pilot study investigates the effects of occurring circumferential pressures within the pHMI in three different shoulder exoskeletons on the tissue oxygenation underneath the interfaces in resting position and dynamic use of the exoskeletons in 12 healthy subjects using near-infrared spectroscopy. Similar to standard Vascular Occlusion Tests, the tissue oxygen decreases while wearing the exoskeletons at rest (−2.1 (1.4) %/min). Dynamic use of the exoskeleton enhances the decrease in tissue oxygen (−7.3 (4.1) %/min) significantly and leads to greater resaturation after reopening the interface compared to resting position. This can be a sign of restricted blood supply to the upper extremity while wearing the exoskeleton. The shape and width of the circular interfaces showed no effect on the tissue oxygenation during use. Tissue oxygenation can be established as an additional safety criterion of exoskeletal pHMIs. The design of pHMI of shoulder exoskeletons should be reconsidered, e.g., in terms of open structures or the elasticity of closure straps to avoid occlusion effects.

Publisher

MDPI AG

Subject

Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science

Reference64 articles.

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3. Otten, B., Weidner, R., and Linnenberg, C. (2016, January 12–13). Leichtgewichtige Und Inhärent Biomechanisch Kompatible Unterstützungssysteme Für Tätigkeiten in Und Über Kopfhöhe. Proceedings of the 2. Transdisziplinäre Konferenz “Technische Unterstützungssysteme, Die Die Menschen Wirklich Wollen”, Hamburg, Germany.

4. Ersoysal, S., Hoffmann, N., Ralfs, L., and Weidner, R. (2022). Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021, Springer.

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