Back-Support Exoskeleton Control Using User’s Torso Acceleration and Velocity to Assist Manual Material Handling

AbstractThis work analyzes the use of users’ dynamics to define the assistance of a back-support exoskeleton for assisting manual material handling. Exploiting the acceleration and velocity of the user’s torso on the sagittal plane allows to distinguish between lifting and lowering phases and accordingly adapt the assistance. Theoretical and practical issues of strategy implementation are discussed.