Pushing/Pulling

The push/pull tasks have been designed to simulate pushing/pulling an industrial cart. In order to standardize and simulate the force needed to initiate and sustain the pushing or pulling of a cart. Force trajectories that participants will have to follow for the push/pull tasks have been calculated for two different load levels (of 16 and 27 kg), based on static and dynamic coefficients of friction set at 0.7 and 0.5​. The pushing/pulling tasks was completed by exerting an isometric push/pull force on an arm attached to a dynamometer (Humac Norm isokinetic machine - CSMi, Stoughton, MA, USA). The arm will be set at 120 cm height from the ground​ and the force trajectories were converted to an equivalent moment (in Nm) with a moment arm of 10 cm and a real-time scrolling line feedback display was designed to allow the participants to follow the path starting from static force (for about 1-2 seconds) and transitioning to dynamic force (for 30 seconds). 

Setup

Subjective Outcomes

• Bars indicate overall means of outcomes for each exoskeleton condition

• Exertion and discomfort values are reported before and after completing a task.

Objective Outcomes

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