Investigation of Human Cargo Handling in Industrial Exoskeleton

In the article authors present results of mathematical modeling of cargo lifting by human in an industrial exoskeleton. The model of cargo lifting is described by a flat model of a seven-spring with active hinges driven by motors. The main aim of the research is the calculation of the required torques and the implementation of the drive control system. The existing classification of industrial exoskeletons is given and the design of ExoHeaver exoskeleton, developed in SWSU, is proposed. The simulation results were obtained at lifting a load of 15 kg and confirmed using an experimental prototype.