A Lightweight Powered Elbow Exoskeleton for Manual Handling Tasks

Abstract

This study introduces a novel lightweight elbow joint exoskeleton designed to enhance the safety and efficiency of industrial workers engaged in manual handling tasks. Our design leveraged a Bowden cable transmission system and a practical control strategy utilizing instrumented gloves to deliver reactive bi-directional support for dynamic box lifting and pressing activities. The primary focus of this work was to (1) to present an engineering validation analysis and (2) assess the exoskeleton’s impact on reducing muscle activity, increasing endurance, and maintaining overall user comfort during upper-extremity lifting or carrying tasks. We observed significant and consistent reductions in muscle activity and an increase in endurance (e.g., 2.4x more repetitions) during box lifting tasks, without compromising user comfort. These findings provide promising evidence of the exoskeleton’s effectiveness and represent a crucial first step working towards demonstrating efficacy in real-world workplace environments.