Investigation of reducing fatigue and musculoskeletal disorder with passive actuators

Carmichael, MG; Liu, D; Waldron, KJ

Investigation of reducing fatigue and musculoskeletal disorder with passive actuators

Carmichael, MG

Liu, D

Waldron, KJ

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Publication Type:: Conference Proceeding
Citation:: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, pp. 2481 - 2486
Issue Date:: 2010-12-01

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Field	Value	Language
dc.contributor.author	Carmichael, MG https://orcid.org/0000-0001-8439-0074	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Waldron, KJ https://orcid.org/0000-0002-7910-4907	en_US
dc.date.issued	2010-12-01	en_US
dc.identifier.citation	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, pp. 2481 - 2486	en_US
dc.identifier.isbn	9781424466757	en_US
dc.identifier.uri	http://hdl.handle.net/10453/16427
dc.description.abstract	Robotic systems such as exoskeletons can be effectively used in the reduction of fatigue and musculoskeletal disorders (MSD) associated with physical tasks, but robots which work in physical contact with humans pose problems with user safety. A novel approach to developing intrinsically safe robots is to use passive actuators which have the advantage of being safer, ensuring stability, high force/weight ratios and lower power consumption. It is however not clear how effective an exoskeleton utilizing passive actuators would be in reducing fatigue and the risk of MSD. This paper analyzes the benefit of using such a system with results from dynamic simulations and an experiment using a specially designed mechanism used for evaluation. Results indicate that fatigue and effort could be reduced if robot impedance is minimized. Experiments also highlighted issues of implementing such a system into practice. ©2010 IEEE.	en_US
dc.relation.ispartof	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings	en_US
dc.relation.isbasedon	10.1109/IROS.2010.5650767	en_US
dc.title	Investigation of reducing fatigue and musculoskeletal disorder with passive actuators	en_US
dc.type	Conference Proceeding
utslib.for	090602 Control Systems, Robotics and Automation	en_US
dc.location.activity	Taipei, Taiwan	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

Robotic systems such as exoskeletons can be effectively used in the reduction of fatigue and musculoskeletal disorders (MSD) associated with physical tasks, but robots which work in physical contact with humans pose problems with user safety. A novel approach to developing intrinsically safe robots is to use passive actuators which have the advantage of being safer, ensuring stability, high force/weight ratios and lower power consumption. It is however not clear how effective an exoskeleton utilizing passive actuators would be in reducing fatigue and the risk of MSD. This paper analyzes the benefit of using such a system with results from dynamic simulations and an experiment using a specially designed mechanism used for evaluation. Results indicate that fatigue and effort could be reduced if robot impedance is minimized. Experiments also highlighted issues of implementing such a system into practice. ©2010 IEEE.

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http://hdl.handle.net/10453/16427