Design and evaluation of the OmniSuit: A passive occupational exoskeleton for back and shoulder support.

Many physically straining occupations involve lifting movements over the full-vertical range of motion, which over time may lead to the development of musculoskeletal injuries. To address this, occupational exoskeletons can be designed to provide meaningful support to the back and shoulders during lifting movements. This paper introduces the main functional design features of the OmniSuit, a novel passive occupational exoskeleton. We present the technical and biomechanical considerations for the expected support level, as well as an evaluation of the physiological benefit and usability of the exoskeleton in a sample of 31 healthy volunteers performing physically demanding tasks in a laboratory setting. The OmniSuit exoskeleton significantly reduced Deltoid, Trapezius and Erector Spinae muscle activity between 4.1%MVC and 15.7%MVC when lifting a 2.5kg weight above shoulder level (p<0.001), corresponding to a reduction of up to 49.1% compared to without exoskeleton. A position-dependent reduction of Erector Spinae muscle activity was observed (p<0.001), with reductions ranging between 4.6%MVC and 14.0%MVC during leaning and squatting, corresponding to a reduction up to 41.5% compared to without exoskeleton. The measured muscular support and the predicted support torque based on the biomechanical model were found to show a similar profile for those phases of the movement which are most straining to the shoulder and back muscles. Participants reported experiencing good device usability and minimal discomfort (<1/10) in the shoulder and back during task execution with exoskeleton support. These first results validate that the considered biomechanical model helped design an ergonomic and efficient exoskeleton, and confirm the potential of such wearable assistive devices to provide support over multiple joints during physically demanding tasks.

Masticatory Muscles Activation and TMJ Space During Asymmetrically Loaded Jaw Closing.

Masticatory muscle activation and temporomandibular joint (TMJ) load generated during asymmetrically loaded jaw closing are largely unknown. Two different strategies were developed to explain how the central nervous system (CNS) generates muscle activation patterns during motion: minimization of joint load (MJL) vs. minimization of muscle effort (MME). The aim of the present study was to investigate, experimentally, the neuromuscular strategy selected by the CNS to coordinate jaw closing in reaction to the application of an external asymmetric load. Masticatory muscle activation was measured with electromyography (EMG) and the minimum intra-articular distance (MID) was assessed by dynamic stereometry to infer joint loading. Ten healthy subjects performed jaw-closing movements against an asymmetric mandibular load set from 0.0 to 2.0 kg in 0.5-kg steps. Recordings were analyzed by exploratory and graphical statistical tools. Moreover, the observed differences in MID and EMG among the various mandibular loads were tested using non-parametric tests for repeated measures data. The ipsilateral-contralateral differences in MID and EMG of the anterior temporalis showed a significant increase (p < 0.001, p = 0.01) with increasing asymmetrical load with both joints being most heavily loaded at 1 kg. EMG signals of the masseter did not change significantly with increasing load. This study is the first to have analyzed the changes in the TMJ intra-articular space during asymmetrically loaded jaw-closing movements, not only three dimensionally and dynamically, but also combined with EMG. Asymmetrical load affected the TMJ space and masticatory muscle activation patterns, primarily resulting in an increased activation of the anterior temporalis muscle. This might suggest the involvement of a control mechanism to protect the joints from overloading. However, the results do not fully support the hypothesis of MJL nor the MME strategy.

Evaluation of the physiological benefits of a passive back-support exoskeleton during lifting and working in forward leaning postures.

Musculoskeletal disorders affecting the back are highly prevalent in fields of occupation involving repetitive lifting and working in forward leaning postures. Back-support exoskeletons are developed to relieve workers in physically demanding occupations. This study investigates the physiological effects of a lightweight exoskeleton which provides support through textile springs worn on the back. We hypothesized that wearing such a passive back-support exoskeleton reduces muscle activity of the back and hip muscles, while not influencing abdominal muscle activity and movement kinematics during typical occupational tasks. We collected electromyography data from the main back and hip muscles as well as whole body kinematics data via optical motion tracking during a set of relevant weight lifting tasks corresponding to typical work conditions. In our sample of 30 healthy volunteers, wearing the exoskeleton significantly reduced muscle activity, with reductions up to 25.59% during forward leaning and 20.52% during lifting in the main back and hip muscles (Erector Spinae at thoracic and lumbar level and Quadratus Lumborum). Simultaneously, no changes in knee and hip range of motion were observed. The stretch of the textile springs correlated with the body mass index and chest circumference of the wearer, and depended on posture, but not on the lifted load. The LiftSuit exoskeleton relieved back and hip muscles during typically straining occupational tasks, while biomechanical parameters were preserved. This suggests that passive lift-support exoskeletons can be safely used to relieve workers during lifting and forward leaning tasks.

A method to quantify the reduction of back and hip muscle fatigue of lift-support exoskeletons.

Cumulative back muscle fatigue plays a role in the occurrence of low-back injuries in occupations that require repetitive lifting of heavy loads and working in forward leaning postures. Lift-support exoskeletons have the potential to reduce back and hip muscle activity, thereby delaying the onset of fatigue in these muscles. Therefore, exoskeletons are being considered a potentially important tool to further reduce workload-related injuries. However, today no standards have been established on how to benchmark the support level of lift-support exoskeletons. This work proposes an experimental protocol to quantify the support level of a lift-support exoskeletons on instant changes in muscle activity and fatigue development while maintaining a static forward leaning posture. It then applies the protocol to experimentally assess the effect of the support provided by a commercially available lift-support exoskeleton, the LiftSuit 2.0 (Auxivo AG, Schwerzenbach, Switzerland), on the user. In a sample of 14 participants, the amplitude of the muscle activity of the back muscles and hip muscles () was significantly reduced. Wearing the exoskeleton significantly reduced the amount of fatigue developed during the task (). Changes in muscle fatigue can be objectively recorded and correlated with relevant changes for exoskeleton users: the time a task can be performed and perceived low-back fatigue. Thus, including such measures of fatigue in standardized benchmarking procedures will help quantify the benefits of exoskeletons for occupational use.

Effect of passive shoulder exoskeleton support during working with arms over shoulder level.

Musculoskeletal disorders have the highest prevalence of work-related health problems. Due to the aging population, the prevalence of shoulder pain in workers in physically demanding occupations is increasing, thereby causing rising costs to society and underlining the need for preventive technologies. Wearable support structures are designed to reduce the physical work load during physically demanding tasks. Here, we evaluate the physiological benefit of the DeltaSuit, a novel passive shoulder exoskeleton, using an assessment framework that conforms to the approach proposed in the literature. In this study, 32 healthy volunteers performed isometric, quasi-isometric, and dynamic tasks that represent typical overhead work to evaluate the DeltaSuit performance. Muscle activity of the arm, neck, shoulder, and back muscles, as well as cardiac cost, perceived exertion, and task-related discomfort during task execution with and without the exoskeleton were compared. When working with the DeltaSuit, muscle activity was reduced up to 56% (p < 0.001) in the Trapezius Descendens and up to 64% (p < 0.001) in the Deltoideusmedius. Furthermore, we observed no additional loading on the abdomen and back muscles. The use of the exoskeleton resulted in statistically significant reductions in cardiac cost (15%, p < 0.05), perceived exertion (21.5%, p < 0.001), and task-related discomfort in the shoulder (57%, p < 0.001). These results suggest that passive exoskeletons, such as the DeltaSuit, have the potential to meaningfully support users when performing tasks in overhead postures and offer a valuable solution to relieve the critical body parts of biomechanical strains for workers at high risk of musculoskeletal disorders.

Gentle rocking movements during sleep in the elderly.

Vestibular stimulation in the form of rocking movements could be a promising non-pharmacological intervention for populations with reduced sleep quality, such as the elderly. We hypothesized that rocking movements influence sleep by promoting comfort. We assessed whether gentle rocking movements can facilitate the transition from wake to sleep, increase sleep spindle density and promote deep sleep in elderly people. We assessed self-reported comfort using a pilot protocol including translational movements and movements along a pendulum trajectory with peak linear accelerations between 0.10 and 0.20 m/s2 . We provided whole-night stimulation using the settings rated most comfortable during the pilot study (movements along a pendulum trajectory with peak linear acceleration of 0.15 m/s2 ). Sleep measures (polysomnography) of two baseline and two movement nights were compared. In our sample (n = 19; eight female; mean age: 66.7 years, standard deviation: 3 years), vestibular stimulation using preferred stimulation settings did not improve sleep. A reduction of delta power was observed, suggesting reduced sleep depth during rocking movements. Sleep fragmentation was similar in both conditions. We did not observe a sleep-promoting effect using settings optimized to be comfortable. This finding could imply that comfort is not the underlying mechanism. At frequencies below 0.3 Hz, the otoliths cannot distinguish tilt from translation. Translational movement trajectories, such as used in previous studies reporting positive effects of rocking, could have caused sensory confusion due to a mismatch between vestibular and other sensory information. We propose that this sensory confusion might be essential to the sleep-promoting effect of rocking movements described in other studies.

A Novel Approach to Assess Sleep-Related Rhythmic Movement Disorder in Children Using Automatic 3D Analysis.

Background: Unlike other episodic sleep disorders in childhood, there are no agreed severity indices for rhythmic movement disorder. While movements can be characterized in detail by polysomnography, in our experience most children inhibit rhythmic movement during polysomnography. Actigraphy and home video allow assessment in the child's own environment, but both have limitations. Standard actigraphy analysis algorithms fail to differentiate rhythmic movements from other movements. Manual annotation of 2D video is time consuming. We aimed to develop a sensitive, reliable method to detect and quantify rhythmic movements using marker free and automatic 3D video analysis. Method: Patients with rhythmic movement disorder (n = 6, 4 male) between age 5 and 14 years (M: 9.0 years, SD: 4.2 years) spent three nights in the sleep laboratory as part of a feasibility study (https://clinicaltrials.gov/ct2/show/NCT03528096). 2D and 3D video data recorded during the adaptation and baseline nights were analyzed. One ceiling-mounted camera captured 3D depth images, while another recorded 2D video. We developed algorithms to analyze the characteristics of rhythmic movements and built a classifier to distinguish between rhythmic and non-rhythmic movements based on 3D video data alone. Data from 3D automated analysis were compared to manual 2D video annotations to assess algorithm performance. Novel indices were developed, specifically the rhythmic movement index, frequency index, and duration index, to better characterize severity of rhythmic movement disorder in children. Result: Automatic 3D video analysis demonstrated high levels of agreement with the manual approach indicated by a Cohen's kappa >0.9 and F1-score >0.9. We also demonstrated how rhythmic movement assessment can be improved using newly introduced indices illustrated with plots for ease of visualization. Conclusion: 3D video technology is widely available and can be readily integrated into sleep laboratory settings. Our automatic 3D video analysis algorithm yields reliable quantitative information about rhythmic movements, reducing the burden of manual scoring. Furthermore, we propose novel rhythmic movement disorder severity indices that offer a means to standardize measurement of this disorder in both clinical and research practice. The significance of the results is limited due to the nature of a feasibility study and its small number of samples. A larger follow up study is needed to confirm presented results.

Effect of Rocking Movements on Afternoon Sleep.

STUDY OBJECTIVES: Gentle rocking movements provided by a moving bed have been proposed as a promising non-pharmacological way to promote sleep. In rodents the sleep promoting effect of rocking movements depended on the peak acceleration (named "stimulation intensity") perceived by the vestibular system. We set out to verify previous reports on the sleep promoting effect of rocking movements and to investigate the importance of stimulation intensity in this process. METHODS: Side-to-side rocking movements along a pendulum trajectory with different peak accelerations (control: 0 m/s2, low intensity: 0.15 m/s2, medium intensity: 0.25 m/s2, high intensity: 0.35 m/s2) were provided for 45 min during an afternoon nap opportunity. Participants were assigned to a low intensity group (n = 10) experiencing control, low and medium intensity stimulation or a high intensity group (n = 12) experiencing control, medium and high intensity stimulation. Sleep and sleep-related memory performance were assessed using polysomnography and a word-pair memory task, respectively. RESULTS: Participants transitioned faster into deep sleep under the influence of medium intensity rocking as was evident by a faster buildup of delta power compared to the control condition (n = 22). The faster buildup did not affect sleep architecture, since e.g., the proportion of the nap spent in deep sleep or latencies did not change. Previously reported effects like a shorter latency to stage N2 and a higher density of sleep spindles were not observed. Sleep quality during control naps of the low intensity group was worse than in the high intensity group. In the low intensity group, we also observed a significant increase in delta power throughout the nap, as well as a higher density of slow oscillations both under the influence of low and medium intensity vestibular stimulation. No such effects were observed in the high intensity group. CONCLUSION: Rocking movements may promote nap sleep in young adults. Due to a difference in sleep quality during control naps between the low and high intensity group no conclusion regarding the influence of stimulation intensity were possible. Thus, optimal stimulation settings in humans need further investigation.

Objectively confirmed prevalence of sleep-related rhythmic movement disorder in pre-school children.

OBJECTIVE: Childhood sleep-related rhythmic movement disorder (RMD) (ie, sleep-related repetitive movements involving large muscle groups) can impair sleep quality, cause local injury, and disturb household members. Previous parental reports indicate prevalence rates in children under three years of age between 5.5 and 67%. We studied the prevalence of RMD with objective home videosomnography. METHODS: Parents of 707 children having their one-year routine health check (357 male), 740 children having their two-year health check (395 male), and 17 children of unknown age (nine male), were asked if their child showed sleep-related rhythmic movements. If telephone interview confirmed likely RMD, parents completed a standardised clinical questionnaire and three nights of home videosomnography. RESULTS: At the one-year health check, 31/707 possible cases of RMD were identified [maximal prevalence: 4.38%; 95% CI (2.81, 5.89)] compared to 11/740 at the two-year check [maximal prevalence: 1.49%, 95% CI (0.61, 2.36)]. Of 42 possible cases, nine had resolved; 14 were uncontactable, or did not wish to participate, and four did not complete the study protocol. In four of 10 remaining one-year olds and four of five remaining two-year olds parental report was objectively confirmed by videosomnography. Minimal prevalence based on objective observation was therefore 0.28% [95% CI (0.08, 1.30)] at one-year check and 0.41% [95% CI (0.08, 1.24)] at two-year check. CONCLUSIONS: Prevalence of RMD in a large population of infants and toddlers was lower than previously reported (maximum prevalence 2.87%, minimum prevalence 0.34%). It is important to confirm parental report using objective measures.

Actuated bed for a closed loop anti-snoring therapy.

Snoring is a very common often underestimated sleep disorder, which is caused by a partial blockage of the upper airways. It can easily be treated by changing the sleeping posture of the snorer. However, conventional approaches are often perceived as uncomfortable. In order to increase uptake we propose to use an actuated bed, which is equipped with microphones and controlled in closed loop. The inclination of the part of the bed which is supporting the trunk is increased to open the upper airways, whenever snoring sounds are detected. During snoring-free periods the bed goes back to its original position to allow the user to move freely. The principle has successfully been applied in a proof of concept test. During this test night the bed was able to stop the snorer from snoring in four out of five occasions.