A powered low-back exoskeleton for industrial handling: Considerations on controls

Abstract

A powered low-back exoskeleton is being developed to support manual material handling in industry. Controlling this device poses several challenges. At the low-level, the actuation units need to be capable of large torque outputs as well as transparent interaction. At the high-level, the exoskeleton needs to modulate its assistance based on information acquired from the environment and the wearer, so as to maximise its beneficial effect. These challenges have great relevance to industrial applications, where complexity, cost and invasiveness are key to successful deployment. In describing the current progress in the development of the exoskeleton, an attempt is made to highlight and discuss these challenges and possible technical solutions.