A Simulation Study into the Use of Polymer Based Materials for Core Exoskeleton Applications
A core/trunk exoskeleton design has been produced that is aimed to assist the raise to stand motion. A 3D model was produced to examine the use of additive manufacturing as a core method for producing structural components for the exoskeleton presented. The two materials that were modelled for this simulation work were Polylatic acid (PLA) and polyethylene terephthalate with carbon (PET-C), and the central spinal cord of the design being Nitrile rubber. The aim of this study was to examine the use of 3D printed materials as the main skeletal structure to support the core of a human when moving raising from a resting position. The objective in this work was to identify if the 3D printable materials could be offered as an equivalent alternative to conventional more expensive materials, thus allow for greater access for production for home maintenance. A maximum load of lift force was calculated, and this was incrementally reduced to study the effects on the material. The results showed a total number of 8 simulations were run to study the core in conditions with no muscular support through to 90% of operational support. The study presents work in the form of a core/trunk exoskeleton that presents 3D printing as a possible alternative to conventional manufacturing.
[1] E. P. Lamers, A. J. Yang, and K. E. Zelik, “Feasibility of a
biomechanically-assistive garment to reduce low back loading during
leaning and lifting,” vol. 65, no. 8, pp. 1674–1680, conference Name:
IEEE Transactions on Biomedical Engineering.
[2] M. B. N¨af, A. S. Koopman, S. Baltrusch, C. Rodriguez-Guerrero,
B. Vanderborght, and D. Lefeber, “Passive back support
exoskeleton improves range of motion using flexible
beams,” vol. 5, publisher: Frontiers. (Online). Available:
https://www.frontiersin.org/articles/10.3389/frobt.2018.00072/full
[3] J.-H. Park, P. R. Stegall, D. P. Roye, and S. K. Agrawal, “Robotic spine
exoskeleton (RoSE): Characterizing the 3-d stiffness of the human torso
in the treatment of spine deformity,” vol. 26, no. 5, pp. 1026–1035.
[4] J. Babiˇc, T. Petriˇc, K. Mombaur, I. Kingma, J. Bornmann,
J. Gonz´alez-Vargas, S. Baltrusch, N. ˇ Sarabon, and H. Houdijk,
“SPEXOR: Design and development of passive spinal exoskeletal robot
for low back pain prevention and vocational reintegration,” vol. 1, no. 3,
p. 262. (Online). Available: https://doi.org/10.1007/s42452-019-0266-1
[5] S. Toxiri, M. B. N¨af, M. Lazzaroni, J. Fern´andez, M. Sposito, T. Poliero,
L. Monica, S. Anastasi, D. G. Caldwell, and J. Ortiz, “Back-support
exoskeletons for occupational use: An overview of technological
advances and trends,” vol. 7, no. 3, pp. 237–249, publisher: Taylor
& Francis eprint: https://doi.org/10.1080/24725838.2019.1626303.
(Online). Available: https://doi.org/10.1080/24725838.2019.1626303
[6] M. Gorˇsiˇc, Y. Regmi, A. P. Johnson, B. Dai, and D. Novak, “A pilot study
of varying thoracic and abdominal compression in a reconfigurable trunk
exoskeleton during different activities,” vol. 67, no. 6, pp. 1585–1594,
conference Name: IEEE Transactions on Biomedical Engineering.
[7] C. Maher, M. Underwood, and R. Buchbinder, “Non-specific low
back pain,” vol. 389, no. 10070, pp. 736–747, publisher: Elsevier.
(Online). Available: https://www.thelancet.com/journals/lancet/article/
PIIS0140-6736(16)30970-9/abstract
[8] S. L. James, D. Abate, K. H. Abate, S. M. Abay, and Abbafati,
“Global, regional, and national incidence, prevalence, and years lived
with disability for 354 diseases and injuries for 195 countries
and territories, 1990–2017: a systematic analysis for the global
burden of disease study 2017,” vol. 392, no. 10159, pp. 1789–1858.
(Online). Available: https://www.thelancet.com/journals/lancet/article/
PIIS0140-6736(18)32279-7/abstract
[9] Noninvasive treatments for acute, subacute, and chronic low back
pain: A clinical practice guideline from the american college
of physicians | annals of internal medicine.(Online). Available:
https://www.acpjournals.org/doi/10.7326/M16-2367
[10] L. Vogt. ISASS policy statements for spine
surgery. Library Catalog: www.isass.org. (Online). Available:
https://www.isass.org/policy-statements/
[11] Exoskeleton developers must improve capabilities, cost, says maxon.
Library Catalog: www.therobotreport.com.(Online). Available:
https://www.therobotreport.com/exoskeleton-developers-must-refinecapabilities-
cost-says-maxon/
[12] C. W. Hull, “Apparatus for production of three-dimensional objects by
stereolithography,” U.S. Patent 1 4575330A, 1986-03-11.
[13] E. Wojciechowski, A. Y. Chang, D. Balassone, J. Ford, T. L. Cheng,
D. Little, M. P. Menezes, S. Hogan, and J. Burns, “Feasibility of
designing, manufacturing and delivering 3d printed ankle-foot orthoses:
a systematic review,” vol. 12, no. 1, p. 11.
[14] R. Xu, Z. Wang, Z. Ren, T. Ma, Z. Jia, S. Fang, and H. Jin,
“Comparative study of the effects of customized 3d printed insole and
prefabricated insole on plantar pressure and comfort in patients with
symptomatic flatfoot,” vol. 25, pp. 3510–3519. (Online). Available:
https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6528551/
[15] A. Manero, P. Smith, J. Sparkman, M. Dombrowski, D. Courbin,
A. Kester, I. Womack, and A. Chi, “Implementation of
3d printing technology in the field of prosthetics: Past,
present, and future,” vol. 16, no. 9. (Online). Available:
https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6540178/
[16] J. M. Zuniga, J. Peck, R. Srivastava, D. Katsavelis, and
A. Carson, “An open source 3d-printed transitional hand prosthesis
for children,” vol. 28, no. 3, pp. 103–108. (Online). Available:
https://journals.lww.com/jpojournal
[17] B.-H. Li and M.-C. Yang, “Improvement of thermal and
mechanical properties of poly(l-lactic acid) with 4,4-methylene
diphenyl diisocyanate,” vol. 17, no. 6, pp. 439–443, eprint:
https://onlinelibrary.wiley.com/doi/pdf/10.1002/pat.731. (Online).
Available: https://onlinelibrary.wiley.com/doi/abs/10.1002/pat.731
[18] J. Barrios-Muriel, F. Romero-S´anchez, F. J. Alonso-S´anchez, and
D. Rodr´ıguez Salgado, “Advances in orthotic and prosthetic
manufacturing: A technology review,” vol. 13, no. 2, p. 295,
number: 2 Publisher: Multidisciplinary Digital Publishing Institute.
[Online]. Available: https://www.mdpi.com/1996-1944/13/2/295
[19] S. J. Day and S. P. Riley, “Utilising three-dimensional
printing techniques when providing unique assistive devices: A
case report,” vol. 42, no. 1, pp. 45–49. (Online). Available:
https://journals.lww.com/poijournal
[20] F. D. B. de Sousa, G. L. Mantovani, and C. H. Scuracchio,
“Mechanical properties and morphology of NBR with different
clays,” vol. 30, no. 8, pp. 819–825. (Online). Available:
http://www.sciencedirect.com/science/article/pii/S0142941811001206
[1] E. P. Lamers, A. J. Yang, and K. E. Zelik, “Feasibility of a
biomechanically-assistive garment to reduce low back loading during
leaning and lifting,” vol. 65, no. 8, pp. 1674–1680, conference Name:
IEEE Transactions on Biomedical Engineering.
[2] M. B. N¨af, A. S. Koopman, S. Baltrusch, C. Rodriguez-Guerrero,
B. Vanderborght, and D. Lefeber, “Passive back support
exoskeleton improves range of motion using flexible
beams,” vol. 5, publisher: Frontiers. (Online). Available:
https://www.frontiersin.org/articles/10.3389/frobt.2018.00072/full
[3] J.-H. Park, P. R. Stegall, D. P. Roye, and S. K. Agrawal, “Robotic spine
exoskeleton (RoSE): Characterizing the 3-d stiffness of the human torso
in the treatment of spine deformity,” vol. 26, no. 5, pp. 1026–1035.
[4] J. Babiˇc, T. Petriˇc, K. Mombaur, I. Kingma, J. Bornmann,
J. Gonz´alez-Vargas, S. Baltrusch, N. ˇ Sarabon, and H. Houdijk,
“SPEXOR: Design and development of passive spinal exoskeletal robot
for low back pain prevention and vocational reintegration,” vol. 1, no. 3,
p. 262. (Online). Available: https://doi.org/10.1007/s42452-019-0266-1
[5] S. Toxiri, M. B. N¨af, M. Lazzaroni, J. Fern´andez, M. Sposito, T. Poliero,
L. Monica, S. Anastasi, D. G. Caldwell, and J. Ortiz, “Back-support
exoskeletons for occupational use: An overview of technological
advances and trends,” vol. 7, no. 3, pp. 237–249, publisher: Taylor
& Francis eprint: https://doi.org/10.1080/24725838.2019.1626303.
(Online). Available: https://doi.org/10.1080/24725838.2019.1626303
[6] M. Gorˇsiˇc, Y. Regmi, A. P. Johnson, B. Dai, and D. Novak, “A pilot study
of varying thoracic and abdominal compression in a reconfigurable trunk
exoskeleton during different activities,” vol. 67, no. 6, pp. 1585–1594,
conference Name: IEEE Transactions on Biomedical Engineering.
[7] C. Maher, M. Underwood, and R. Buchbinder, “Non-specific low
back pain,” vol. 389, no. 10070, pp. 736–747, publisher: Elsevier.
(Online). Available: https://www.thelancet.com/journals/lancet/article/
PIIS0140-6736(16)30970-9/abstract
[8] S. L. James, D. Abate, K. H. Abate, S. M. Abay, and Abbafati,
“Global, regional, and national incidence, prevalence, and years lived
with disability for 354 diseases and injuries for 195 countries
and territories, 1990–2017: a systematic analysis for the global
burden of disease study 2017,” vol. 392, no. 10159, pp. 1789–1858.
(Online). Available: https://www.thelancet.com/journals/lancet/article/
PIIS0140-6736(18)32279-7/abstract
[9] Noninvasive treatments for acute, subacute, and chronic low back
pain: A clinical practice guideline from the american college
of physicians | annals of internal medicine.(Online). Available:
https://www.acpjournals.org/doi/10.7326/M16-2367
[10] L. Vogt. ISASS policy statements for spine
surgery. Library Catalog: www.isass.org. (Online). Available:
https://www.isass.org/policy-statements/
[11] Exoskeleton developers must improve capabilities, cost, says maxon.
Library Catalog: www.therobotreport.com.(Online). Available:
https://www.therobotreport.com/exoskeleton-developers-must-refinecapabilities-
cost-says-maxon/
[12] C. W. Hull, “Apparatus for production of three-dimensional objects by
stereolithography,” U.S. Patent 1 4575330A, 1986-03-11.
[13] E. Wojciechowski, A. Y. Chang, D. Balassone, J. Ford, T. L. Cheng,
D. Little, M. P. Menezes, S. Hogan, and J. Burns, “Feasibility of
designing, manufacturing and delivering 3d printed ankle-foot orthoses:
a systematic review,” vol. 12, no. 1, p. 11.
[14] R. Xu, Z. Wang, Z. Ren, T. Ma, Z. Jia, S. Fang, and H. Jin,
“Comparative study of the effects of customized 3d printed insole and
prefabricated insole on plantar pressure and comfort in patients with
symptomatic flatfoot,” vol. 25, pp. 3510–3519. (Online). Available:
https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6528551/
[15] A. Manero, P. Smith, J. Sparkman, M. Dombrowski, D. Courbin,
A. Kester, I. Womack, and A. Chi, “Implementation of
3d printing technology in the field of prosthetics: Past,
present, and future,” vol. 16, no. 9. (Online). Available:
https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6540178/
[16] J. M. Zuniga, J. Peck, R. Srivastava, D. Katsavelis, and
A. Carson, “An open source 3d-printed transitional hand prosthesis
for children,” vol. 28, no. 3, pp. 103–108. (Online). Available:
https://journals.lww.com/jpojournal
[17] B.-H. Li and M.-C. Yang, “Improvement of thermal and
mechanical properties of poly(l-lactic acid) with 4,4-methylene
diphenyl diisocyanate,” vol. 17, no. 6, pp. 439–443, eprint:
https://onlinelibrary.wiley.com/doi/pdf/10.1002/pat.731. (Online).
Available: https://onlinelibrary.wiley.com/doi/abs/10.1002/pat.731
[18] J. Barrios-Muriel, F. Romero-S´anchez, F. J. Alonso-S´anchez, and
D. Rodr´ıguez Salgado, “Advances in orthotic and prosthetic
manufacturing: A technology review,” vol. 13, no. 2, p. 295,
number: 2 Publisher: Multidisciplinary Digital Publishing Institute.
[Online]. Available: https://www.mdpi.com/1996-1944/13/2/295
[19] S. J. Day and S. P. Riley, “Utilising three-dimensional
printing techniques when providing unique assistive devices: A
case report,” vol. 42, no. 1, pp. 45–49. (Online). Available:
https://journals.lww.com/poijournal
[20] F. D. B. de Sousa, G. L. Mantovani, and C. H. Scuracchio,
“Mechanical properties and morphology of NBR with different
clays,” vol. 30, no. 8, pp. 819–825. (Online). Available:
http://www.sciencedirect.com/science/article/pii/S0142941811001206
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:80740", author = "Matthew Dickinson", title = "A Simulation Study into the Use of Polymer Based Materials for Core Exoskeleton Applications", abstract = "A core/trunk exoskeleton design has been produced that is aimed to assist the raise to stand motion. A 3D model was produced to examine the use of additive manufacturing as a core method for producing structural components for the exoskeleton presented. The two materials that were modelled for this simulation work were Polylatic acid (PLA) and polyethylene terephthalate with carbon (PET-C), and the central spinal cord of the design being Nitrile rubber. The aim of this study was to examine the use of 3D printed materials as the main skeletal structure to support the core of a human when moving raising from a resting position. The objective in this work was to identify if the 3D printable materials could be offered as an equivalent alternative to conventional more expensive materials, thus allow for greater access for production for home maintenance. A maximum load of lift force was calculated, and this was incrementally reduced to study the effects on the material. The results showed a total number of 8 simulations were run to study the core in conditions with no muscular support through to 90% of operational support. The study presents work in the form of a core/trunk exoskeleton that presents 3D printing as a possible alternative to conventional manufacturing. ", keywords = "3D printing, Exo-Skeleton, PLA, PETC.", volume = "16", number = "3", pages = "75-6", }
