Excessive physical shoulder musculoskeletal loading (muscle and joint contact forces), known to contribute to work-related shoulder disorders, can be reduced by a passive shoulder exoskeleton during quasi-static tasks. However, its effect on neighboring joints i.e. elbow, lower back, hip, and knee and its effect on joint contact forces have not been investigated. Furthermore, the effect of the exoskeleton's assistance versus movement adaptation when wearing the exoskeleton on musculoskeletal loading remains unexplored. 3D motion capture and ground reaction forces were measured while 16 participants performed 5 simulated occupational tasks with and without the exoskeleton. A musculoskeletal modeling workflow was used to calculate musculoskeletal loading. Shoulder muscle fatigue was quantified using surface EMG. In addition, exoskeletons usability was quantified using the system usability scale. When wearing the passive shoulder exoskeleton, shoulder and elbow musculoskeletal loading decreased during the high lift and overhead wiring task, without increasing the musculoskeletal load at the back, hip and knee. In contrast, musculoskeletal loading in the shoulder, as well as in the knee increased while lifting a box from the ground to knee height and from elbow height to shoulder height. When wearing the exoskeleton, muscle activity of the Trapezius descendens, Deltoideus medius and Biceps brachii were reduced during the high lift. The passive shoulder exoskeleton reduces musculoskeletal loading in the lower back, shoulder and elbow during simulated occupational tasks above shoulder height. In contrast, for tasks below shoulder height, the use of the exoskeleton needs to be critically reviewed to avoid increased musculoskeletal loading also in neighboring joints due to altered movement execution when wearing the exoskeleton.

This paper presents a framework for recognition and prediction of ongoing human motions. The predictions generated by this framework could be used in a controller for a robotic device, enabling the emergence of intuitive and predictable interactions between humans and a robotic collaborator. The framework includes motion onset detection, phase speed estimation, intent estimation and conditioning. For recognition and prediction of a motion, the framework makes use of a motion model database. This database contains several motion models learned using the probabilistic Principal Component Analysis (PPCA) method. The proposed framework is evaluated with joint angle trajectories of eight subjects performing squatting, stooping and lifting tasks. The motion onset and phase speed estimation modules are first evaluated separately. Next, an evaluation of the full framework provides more insight in the current challenges regarding motion prediction. A brief comparison between PPCA and the Probabilistic Movement Primitives (ProMP) method for learning motion models is made based on the influence of both methodologies on the performance of the framework. Both PPCA and ProMP motion models are able to predict motions over a short time horizon but struggle to predict motions over a longer horizon.

Exoskeleton technologies have the potential to reduce the prevalence of work-related musculoskeletal disorders. Despite the fast-growing industrial exoskeleton market, several bottlenecks have prevented their wide application, namely the lack of wearability, the amount of assistance they deliver and their usefulness in various working scenarios, outside of those they were specifically designed to perform. In this work we present the design, realization and evaluation of a new wearable shoulder exoskeleton that is kinematically compatible with the glenohumeral joint and features a new passive remote actuation system (pRAS). The latter has a twofold function: it delivers assistance only when needed and allows for a more convenient repositioning of the exoskeleton components, reducing the exoskeleton’s footprint and limiting the weight on the user’s arm. A test bench has been designed to validate the mechanical performance of the shoulder exoskeleton and experiments have been conducted to investigate its effect on users while executing overhead working tasks. Based on the muscle activity monitored in six subjects, we conclude that our exoskeleton reduces anterior deltoid activity by 22% during the execution of overhead work. This preliminary study suggests that our device can successfully provide relief at the level of the shoulder without hindering the subject.

(1) Background: Yearly, more than 40% of the European employees suffer from work-related musculoskeletal disorders. Still, ergonomic guidelines defining optimal lifting techniques to decrease work-related musculoskeletal disorders (WMSDs) has not been unambiguously defined. Therefore, this study investigates if recommended squat lifting imposes lower musculoskeletal loading than stoop lifting while using a complex full body musculoskeletal OpenSim model. (2) Methods: Ten healthy participants lifted two different weights using both lifting techniques. 3D marker trajectories and ground reaction forces were used as input to calculate joint angles, moments and power using a full body musculoskeletal model with articulated lumbar spine. In addition, the muscle activity of nine different muscles was measured to investigate muscle effort when lifting. (3) Results: Peak moments and peak joint power in L5S1 were not different between the squat and the stoop, but higher peak moments and peak power in the hip, knee, elbow and shoulder were found during squat lifting. Moment impulses in L5S1 were higher during stoop lifting. This is reflected in higher peak electromyography (EMG) but lower muscle effort in prior described muscles during the squat. (4) Conclusions: Squat lifting imposes higher peak full body musculoskeletal loading but similar low back loading compared to stoop lifting, as reflected in peak moments, peak power, and peak EMG.

Inertial capture (InCap) systems combined with musculoskeletal (MSK) models are an attractive option for monitoring 3D joint kinematics in an ecological context. However, the primary limiting factor is the sensor-to-segment calibration, which is crucial to estimate the body segment orientations. Walking, running, and stair ascent and descent trials were measured in eleven healthy subjects with the Xsens InCap system and the Vicon 3D motion capture (MoCap) system at a self-selected speed. A novel integrated method that combines previous sensor-to-segment calibration approaches was developed for use in a MSK model with three degree of freedom (DOF) hip and knee joints. The following were compared: RMSE, range of motion (ROM), peaks, and R² between InCap kinematics estimated with different calibration methods and gold standard MoCap kinematics. The integrated method reduced the RSME for both the hip and the knee joints below 5°, and no statistically significant differences were found between MoCap and InCap kinematics. This was consistent across all the different analyzed movements. The developed method was integrated on an MSK model workflow, and it increased the sensor-to-segment calibration accuracy for an accurate estimate of 3D joint kinematics compared to MoCap, guaranteeing a clinical easy-to-use approach.

A new ergonomic-risk-assessment tool was developed that combines musculoskeletal-model-based loading estimates with insights from fatigue failure theory to evaluate full-body musculoskeletal loading during dynamic tasks. Musculoskeletal-modeling output parameters, i.e., joint contact forces and muscle forces, were combined with tissue-specific injury thresholds that account for loading frequency to determine the injury risk for muscles, lower back, and hip cartilage. The potential of this new risk-assessment tool is demonstrated for defining ergonomic interventions in terms of lifting characteristics, back and shoulder exoskeleton assistance, box transferring, stoop lifting, and an overhead wiring task, respectively. The MATE identifies the risk of WMSDs in different anatomical regions during occupational tasks and allows for the evaluation of the impact of interventions that modify specific lifting characteristics, i.e., load weight versus task repetition. Furthermore, and in clear contrast to currently available ergonomic assessment scores, the effects of the exoskeleton assistance level on the risk of WMSDs of full-body musculoskeletal loading (in particular, the muscles, lower back, and hips) can be evaluated and shows small reductions in musculoskeletal loading but not in injury risk. Therefore, the MATE is a risk-assessment tool based on a full-body, musculoskeletal-modeling approach combined with insights from the fatigue failure theory that shows the proof of concept of a shoulder and back exoskeleton. Furthermore, it accounts for subject-specific characteristics (age and BMI), further enhancing individualized ergonomic-risk assessment.