Exoskeleton for the prevention of musculoskeletal illness in work environments

The Exodyn project was conceived with the overall objective of developing Essential Enabling Technologies (ETTs) for exoskeletons in work environments to improve worker ergonomics and safety and prevent musculoskeletal disorders. The specific scientific and technological objectives for the project are as follows:

- Identification and characterization of lumbar and shoulder/neck musculoskeletal overload in socio-health and industrial work environments.

- Development of a mathematical model representing the physiology of the trunk and/or upper limbs to enable optimal design of the exoskeleton's critical components, primarily the actuation system, the transmission system, and the corresponding mechanical structure.

- Development of a prototype of the exoskeleton's mechanical structure along with flexible transmission systems.

- Development of a prototype actuation subsystem, specifically a SEA (Series Elastic Actuator) that will allow for optimal force control. The actuator will be integrated into structural elements and coupled to flexible transmission systems.

- Development of a prototype sensor subsystem to monitor worker ergonomics and safety. The prototype will consist of motion, force, and muscle fatigue (EMG) sensors, from which an algorithm will be developed to determine if the task being performed and the way it is being performed are correct or, conversely, if they pose a risk of injury. The system will provide alarms in such cases.

- Development of a Human-Robot Interaction subsystem with optimized interaction strategies (automatic detection of the worker's intention regarding the task they want to perform).

- Integration of the aforementioned subsystems and validation in a laboratory environment by recreating two use cases: one in the healthcare sector and the other in industry.