Multibody Analysis of a 3D Human Model with Trunk Exoskeleton for Industrial Applications

This paper presents a multibody analysis of a 3D human model with a wearable exoskeleton for trunk support in industrial applications. Multibody computational models reveal to be a suitable solution for investigating the human-exoskeleton interaction, for properly developing the mechanical design and for analyzing the effect on human joints loads. With the final aim of developing a proper wearable device for the support of human trunk during manual lifting tasks, a 3D multibody model of human body interacting with an exoskeleton has been implemented. Different position of exoskeleton assistance joints and two assistance levels are investigated in terms of human waist and hip joints loads reduction and interface forces at contact points. The results comparison allows defining maps of most suitable and critical areas for exoskeleton joints positioning.