Dynamic characterization and control of a back-support exoskeleton 3D-printed cycloidal actuator

Abstract

The safety, health, and well-being of human workers are crucial for socially sustainable production systems, especially in Industry 5.0. Occupational exoskeletons, particularly back-support devices, are increasingly being adopted to reduce musculoskeletal disorders and human fatigue. To reduce costs and weight, optimized exoskeleton design is being explored. A 3D-printed cycloidal reduction stage for the actuation unit is proposed, focusing on an interaction torque observer and an impedance-based controller for human-robot interaction. The device's dynamic characterization and control are analyzed to evaluate its applicability to a sensorless back-support occupational exoskeleton.