Researchers have developed a lasso-driven handling assistance exoskeleton that combines active motor control with a passive bionic spine to support workers during manual lifting tasks. The design addresses common limitations of existing exoskeletons, such as low flexibility and poor human-robot coupling, by using a cable-driven system that can adapt to natural body movements.
The exoskeleton employs a hierarchical control strategy: a finite motion state machine at the upper level recognizes the wearer's motion intent based on multi-sensor data fusion (IMUs, encoders, force sensors, and hand pressure sensors), while a hybrid force-position controller at the lower level regulates the lasso tension and position. A locking mechanism prevents motor strain during static load holding, extending motor life.
Key takeaways
- During 10 kg lifting tasks, biceps brachii muscle activation decreased by 11.7%, and lumbar erector spinae activation dropped by 37.3%.
- When walking at 0.8 m/s while carrying a 10 kg load, biceps activation was reduced by 31.9%.
- The exoskeleton uses a bionic spine made of elastic units to provide passive support while maintaining flexibility.
- Motion states (no load, up load, carry load, drop load) are detected via hand pressure signals, enabling seamless mode transitions.
These results indicate significant assistance for both arm and lumbar regions, suggesting potential for reducing muscle fatigue and injury risk in industrial handling applications.
Source: 《机器人》期刊 (robot.sia.cn) · Published 2026-01-13 · “一种基于运动状态机的搬运助力外骨骼”