Experimental evaluation of passive exoskeletons for manufacturing applications through motion analysis, electromyography and physiological measurements

This thesis presents an in-depth investigation into the efficacy of two passive exoskeletons, PAEXO back and PAEXO shoulder, designed to assist individuals in executing manual tasks with reduced muscular load and fatigue. The study engaged ten non-expert participants in a series of lifting, assembly, and simulated work tasks, comparing their performance with and without the assistance of the exoskeletons. The evaluation encompassed analyses of muscular activity, joint angles, metabolic cost, and subjective experiences. The PAEXO back showcased a significant reduction in muscle activity for the back and legs during lifting activities, demonstrating its potential to mitigate muscle fatigue. Despite variations in metabolic cost analysis, the exoskeletons displayed a promising trend of reducing metabolic consumption, suggesting the need for extended familiarization to optimize this aspect. Conversely, the PAEXO shoulder significantly alleviated muscle activation and perceived fatigue during overhead tasks, indicating its potential for ergonomic support. Subjective assessments highlighted users’ satisfaction and perceived usability of the exoskeletons, emphasizing the importance of user experience in their effective implementation. The findings underscore the potential of these passive exoskeletons in enhancing workplace ergonomics, recommending further research to fine-tune their design and facilitate integration into occupational settings.