Biodynamic Modeling and Analysis of Human-Exoskeleton Interactions in Simulated Patient Handling Tasks
通过构建个体化生物动力学模型，研究了外骨骼在模拟患者搬运任务中对腰椎和肩关节力矩及运动的影响，发现外骨骼可显著降低腰椎屈曲力矩峰值但增加其运动幅度，为优化外骨骼设计提供依据。
ObjectiveTo investigate the biodynamics of human-exoskeleton interactions during patient handling tasks using a subject-specific modeling approach.BackgroundExoskeleton technology holds promise for mitigating musculoskeletal disorders caused by manual handling and most alarmingly by patient handling jobs. A deeper, more unified understanding of the biomechanical effects of exoskeleton use calls for advanced subject-specific models of complex, dynamic human-exoskeleton interactions.MethodsTwelve sex-balanced healthy participants performed three simulated patient handling tasks along with a reference load-lifting task, with and without wearing the exoskeleton, while their full-body motion and ground reaction forces were measured. Subject-specific models were constructed using motion and force data. Biodynamic response variables derived from the models were analyzed to examine the effects of the exoskeleton. Model validation used load-lifting trials with known hand forces.ResultsThe use of exoskeleton significantly reduced (19.7%-27.2%) the peak lumbar flexion moment but increased (26.4%-47.8%) the peak lumbar flexion motion, with greater moment percent reduction in more symmetric handling tasks; similarly affected the shoulder joint moments and motions but only during two more symmetric handling tasks; and significantly reduced the peak motions for the rest of the body joints.ConclusionSubject-specific biodynamic models simulating exoskeleton-assisted patient handling were constructed and validated, demonstrating that the exoskeleton effectively lessened the peak loading to the lumbar and shoulder joints as prime movers while redistributing more motions to these joints and less to the remaining joints.ApplicationThe findings offer new insights into biodynamic responses during exoskeleton-assisted patient handling, benefiting the development of more effective, possibly task- and individual-customized, exoskeletons.