Effects of passive shoulder-support exoskeleton entity and support force on user range of motion under external loads

This study investigates the effects of a passive shoulder-support exoskeleton entity and support force on the range of motion (ROM) of the shoulder and trunk. Twenty-six healthy participants underwent ROM assessments across three exoskeleton setting conditions (without the exoskeleton; wearing the exoskeleton but the support force deactivated; wearing the exoskeleton with the support force activated) and three external load conditions (0 kg, 3 kg, and 6 kg). Results show that while the exoskeleton entity constrained the shoulder ROM (vertical abduction/adduction, flexion/extension, and horizontal abduction/adduction) and trunk ROM (lateral flexion and rotation), the support force partially alleviated this constraint. External loads primarily restricted the mobility of the shoulder but not the trunk. Interaction effects revealed the complex interplay between external loads and exoskeleton settings on ROM and perceived difficulty, particularly in shoulder vertical abduction/adduction. This study underscores the necessity of considering exoskeleton entity, support force, and external loads in optimizing user joint mobility.

The industrial exoskeleton represents a promising solution for enhancing workplace safety and productivity by mitigating work-related musculoskeletal disorders. This study assessed the impact of the exoskeleton's entity and support force on joint mobility across different load scenarios. Joint mobility is critical to perform industrial tasks that require high flexibility and agility.