STUDY AND DESIGN OF AN ACTIVE TRUNK EXOSKELETON WITH A NON-CONVENTIONAL STRUCTURE

This article presents an active industrial trunk support exoskeleton design with a non-conventional structure. A earlier design was improved, eliminating the leg links and placing two active multifunctional pneumatic actuation groups at the sides of the wearer’s trunk. The backframe along the wearer’s back was also eliminated, with an eye to having its function performed via the actuation groups themselves and a textile vest that can be stiffened if necessary with elastic bands inserted into pockets in the fabric. In the future, the authors plan to design an alternative solution using electric actuators. Experimental tests were carried out with a volunteer to gain a better understanding of the physiological trunk movement, while future tests will be conducted with a larger number of individuals and AI pose estimation models. Results proved useful for design optimization. The exoskeleton structure provides excellent wearability, compact dimensions, can be further optimized in weight, and is designed to fit a near-universal range of wearers.