Quantifying the Impact of a Lower Limb Exoskeleton on Whole-Body Manipulation Tasks. Methodological Approach and First Results

Abstract

In recent years, back-support exoskeletons have been postulated as a competitive solution to reduce mechanical loading during lifting tasks, contributing to the prevention of low back pain. However, little research involving lower body exoskeletons has been done on this matter. The present study evaluates the impact of the H2 robotic exoskeleton on whole-body manipulation tasks, through a standardized experimental protocol and a set of objective metrics. Wearing the exoskeleton allowed the subject to perform the tasks successfully, occasionally showing magnified range of movement values at certain joints. In addition, its use reduced back mechanical loading of loaded-box lifts. However, the device also had a non-desirable impact on functional performance, increasing postural instability, slowing down tasks completion, and diminishing movement smoothness.