THE DESIGN OF AN INNOVATIVE ACTIVE EXOSKELETON PROTOTYPE FOR INDUSTRIAL APPLICATION WITH A PNEUMATIC ACTUATION

This paper presented a prototype of a wearable active exoskeleton suitable to support the operator’s trunk during some working phases, such as the flexion of the trunk, the standing in a flexed position and the lifting of the trunk. This paper illustrated the design work carried out and the exoskeleton construction. It is actuated by pneumatic motors and this is an advantage referring to heat problems during the stationary phase if electric motors would be used. Particular attention was given to the difference between the lumbo-sacral hinge and the hip joint during the operator’s trunk flexion. In this prototype a particular and original solution was studied in order to respect all the technical characteristics required to this kind of device, using air motors, a toothed belt transmission, a Harmonic drive gears system and a proper connection of the device in the hip joint and in the lumbo-sacral hinge. An experimental study of the movement of the operator during these working phases was also done by the authors and it allowed to know the law of the movement and to start the design and the construction of the exoskeleton