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Open AccessArticle
Evaluation of a Passive-Assist Exoskeleton Under Different Assistive Force Profiles in Agricultural Working Postures
by
Naoki Saito
Naoki Saito
,
Takumi Kobayashi
Takumi Kobayashi
Kohei Akimoto
Kohei Akimoto
Toshiyuki Satoh
Toshiyuki Satoh
Norihiko Saga
Norihiko Saga
1
Department of Intelligent Mechatronics, Faculty of Systems Science and Technology, Akita Prefectural University, 84-4 Ebinokuchi, Tsuchiya, Yurihonjo 015-0055, Akita, Japan
2
Department of Mechanical Science and Engineering, Faculty of Science and Technology, Hirosaki University, Hirosaki 036-8560, Aomori, Japan
3
Program of Artificial Intelligence and Mechanical Engineering, School of Engineering, Kwansei Gakuin University, Takarazuka 665-0885, Hyogo, Japan
*
Author to whom correspondence should be addressed.
Actuators 2025, 14(8), 381; https://doi.org/10.3390/act14080381 (registering DOI)
Submission received: 12 May 2025
/
Revised: 17 July 2025
/
Accepted: 24 July 2025
/
Published: 1 August 2025
Abstract
To enable the practical application of passive back-support exoskeletons employing pneumatic artificial muscles (PAMs) in tasks such as agricultural work, we evaluated their assistive effectiveness in a half-squatting posture with a staggered stance. In this context, assistive force profiles were adjusted according to body posture to achieve more effective support. The targeted assistive force profile was designed to be continuously active from the standing to the half-squatting position, with minimal variation across this range. The assistive force profile was developed based on a PAM contractile force model and implemented using a cam mechanism. The effectiveness of assistance was assessed by measuring body flexion angles and erector spinae muscle activity during lifting and carrying tasks. The results showed that the assistive effect was greater on the side with the forward leg. Compared to the condition without exoskeleton assistance, the conventional pulley-based system reduced muscle activity by approximately 20% whereas the cam-based system achieved a reduction of approximately 30%.
Share and Cite
MDPI and ACS Style
Saito, N.; Kobayashi, T.; Akimoto, K.; Satoh, T.; Saga, N.
Evaluation of a Passive-Assist Exoskeleton Under Different Assistive Force Profiles in Agricultural Working Postures. Actuators 2025, 14, 381.
https://doi.org/10.3390/act14080381
AMA Style
Saito N, Kobayashi T, Akimoto K, Satoh T, Saga N.
Evaluation of a Passive-Assist Exoskeleton Under Different Assistive Force Profiles in Agricultural Working Postures. Actuators. 2025; 14(8):381.
https://doi.org/10.3390/act14080381
Chicago/Turabian Style
Saito, Naoki, Takumi Kobayashi, Kohei Akimoto, Toshiyuki Satoh, and Norihiko Saga.
2025. "Evaluation of a Passive-Assist Exoskeleton Under Different Assistive Force Profiles in Agricultural Working Postures" Actuators 14, no. 8: 381.
https://doi.org/10.3390/act14080381
APA Style
Saito, N., Kobayashi, T., Akimoto, K., Satoh, T., & Saga, N.
(2025). Evaluation of a Passive-Assist Exoskeleton Under Different Assistive Force Profiles in Agricultural Working Postures. Actuators, 14(8), 381.
https://doi.org/10.3390/act14080381
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