Fig 1.
The structure diagram of IPAE used in the tests.
It consists of a back support, waist elastic units, leg supports, hooks, shoulder straps and waist straps showed in two views: (a) front view; (b) rearview.
Fig 2.
The electrodes placed on (a) the low back and (b) the upper arm. The EMG of thoracic (T9) erector spinae (TES), lumbar (L4) erector spinae (LES), middle deltoid (MD) and labrum-biceps (LB) are collected by Ag/AgCl electrodes.
Fig 3.
A subject performing the whole lifting process with the exoskeleton.
The toolbox was set at 20% MVE of the subject and the table had been adjusted to the waist height.
Fig 4.
The values include lumbar erector spinae (LES), thoracic erector spinae (TES), middle deltoid (DM) and labrum-biceps (LB) with (I) and without (NI) IPAE. (a)single lifting task; (b)15 min lifting task. Significant results (p < 0.05) are marked with an *.
Table 1.
The result of EMG tests.
Fig 5.
Average relative oxygen consumption.
The oxygen consumption of 8 subjects was checked over time under the IPAE(I) and No-IPAE(NI) conditions.
Fig 6.
Mean Borg scale ratings of 8 subjects over time for the IPAE(I) and No-IPAE(NI) conditions.
Fig 7.
Mean local perceived pressure of 8 subjects for the single lifting task with IPAE.
Fig 8.
Participant SUS ratings of the exoskeleton.