Study Concerning Design and Optimization of a Multifunction Actuation Group for an Industrial Exoskeleton

Industrial exoskeletons are increasingly used in a wide range of appli cations. The paper presents a prototype industrial exoskeleton supporting the wearer’s trunk. In particular, the paper illustrates the optimization of the multifunc tion actuation units positioned on each hip to provide three operating modes: allow ing the wearer’s legs to move freely during emergencies, assisting the wearer’s trunk movements, and supporting the wearer’s trunk in tasks that involve bend ing forward while stationary. Actuation unit optimization focused on reducing axial dimensions to design an efficient layout for all components. Results of the study were highly promising, as an original final actuation unit configuration was developed