Method for Integrating Exoskeletons into Ergonomics Assessment

Inhalt:
As part of the fourth and fifth industrial revolutions, sensor technology has become a central and functional system element in industrial processes and machines. In addition to process monitoring and status control, the sensor information is increasingly used for optimizing interaction in human-robot collaboration. Besides providing physical support during industrial activities, exoskeletons, as one form of direct interaction, also offer the possibility of dynamic assessment of work ergonomics via system-inherent sensors. Based on the Sense – Plan – Act approach commonly used in robotics, this article presents a method for integrating exoskeletons in continuous ergonomics assessment. Therefore, it uses exoskeleton sensor information from inertial measurement units (IMUs) and potentiometers to measure the angular positions of the shoulders and trunk, and quantifies the ergonomic risk of users toward exposure factors. The example of heterogene-ous assembly and logistics tasks illustrates the results of the ergonomics assessment. Results of a preliminary study indi-cate a general suitability of the approach for angle-based risk assessment in work activities. Considering the ergonomics assessment as part of the Plan phase, further implications and connecting points for aspects concerning support characteristics and adaptivity of industrial exoskeletons are raised.