Hybrid Actuation Paradigm in Back-Assist Exoskeleton for Symmetric Loading Conditions - A Feasibility Study.

Abstract

The mandates of safety standards in manual material handling tasks have spurred the development and commercialization of many back-assist exoskeletons. These devices prevent back pain injuries by redistributing the applied loads, reducing the effort and fatigue in heavy and repetitive loading tasks. The majority of them employ passive and active actuation paradigms. The passive ones are known for better transparency and energy efficiency, while the active ones provide a higher degree of assistance and quickly adapt to task severities. The present work investigates the feasibility of a hybrid actuation paradigm for load-carriage under symmetric loading conditions. The preliminary results suggest that the proposed modifications to an existing passive exoskeleton effectively economize energy expenditure and improve adaptability.