Evaluation of fatigue progression during overhead tasks and the effects of exoskeleton assistance
Upper-limb occupational exoskeletons reduce injuries during overhead work. Previous studies focused on muscle activation with and without exoskeletons, but their impact on shoulder fatigue remains unclear. Additionally, no studies have explored how exoskeleton support levels affect fatigue. This stu...
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| Format: | Article |
| Language: | English |
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Cambridge University Press
2025-01-01
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| Series: | Wearable Technologies |
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| Online Access: | https://www.cambridge.org/core/product/identifier/S263171762510008X/type/journal_article |
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| author | Seemab Zakir Lorenzo Grazi Francesco Giovacchini Nicola Vitiello Emilio Trigili Simona Crea |
| author_facet | Seemab Zakir Lorenzo Grazi Francesco Giovacchini Nicola Vitiello Emilio Trigili Simona Crea |
| author_sort | Seemab Zakir |
| collection | DOAJ |
| description | Upper-limb occupational exoskeletons reduce injuries during overhead work. Previous studies focused on muscle activation with and without exoskeletons, but their impact on shoulder fatigue remains unclear. Additionally, no studies have explored how exoskeleton support levels affect fatigue. This study investigates the effects of assistive profiles on muscular and cardiovascular fatigue. Electromyographic (EMG) and electrocardiographic signals were collected to compute EMG median frequency (MDF), heart rate (HR), and heart rate variability (HRV). Fatigue was assessed using three MDF and HR metrics: relative change (
$ {\mathrm{MDF}}_{\Delta } $
,
$ {\mathrm{HR}}_{\Delta } $
), slope (
$ {\mathrm{MDF}}_{\mathrm{slope}} $
,
$ \mathrm{H}{\mathrm{R}}_{\mathrm{slope}} $
), and intercept (
$ {\mathrm{MDF}}_{\mathrm{intercept}} $
,
$ \mathrm{H}{\mathrm{R}}_{\mathrm{intercept}} $
) of the linear regression. Results showed
$ {\mathrm{MDF}}_{\Delta } $
decreased 64% (p = 0.0020) with higher assistance compared to no exoskeleton;
$ {\mathrm{HR}}_{\Delta } $
decreased 40% (p < 0.0273) with lower assistance,
$ {\mathrm{MDF}}_{\mathrm{slope}} $
decreased up to 67% (p = 0.0039) and
$ \mathrm{H}{\mathrm{R}}_{\mathrm{slope}} $
by 43% (p < 0.0098) with higher and medium assistance. HRV metrics included root mean square of successive differences (RMSSD) and low-frequency to high-frequency power ratio (LF/HF). RMSSD indicated parasympathetic dominance, while rising LF/HF ratio suggested physiological strain. Findings support occupational exoskeletons as ergonomic tools for reducing fatigue. |
| format | Article |
| id | doaj-art-67103a13541d477b98bcb2031dc8d387 |
| institution | Kabale University |
| issn | 2631-7176 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Cambridge University Press |
| record_format | Article |
| series | Wearable Technologies |
| spelling | doaj-art-67103a13541d477b98bcb2031dc8d3872025-08-20T03:46:37ZengCambridge University PressWearable Technologies2631-71762025-01-01610.1017/wtc.2025.10008Evaluation of fatigue progression during overhead tasks and the effects of exoskeleton assistanceSeemab Zakir0https://orcid.org/0009-0004-3715-9792Lorenzo Grazi1https://orcid.org/0000-0003-4899-9346Francesco Giovacchini2Nicola Vitiello3Emilio Trigili4Simona Crea5https://orcid.org/0000-0001-9833-4401The BioRobotics Institute, https://ror.org/025602r80 Scuola Superiore Sant’Anna , Pisa, Italy Department of Excellence in Robotics & AI, https://ror.org/025602r80 Scuola Superiore Sant’Anna , Pisa, ItalyThe BioRobotics Institute, https://ror.org/025602r80 Scuola Superiore Sant’Anna , Pisa, Italy Department of Excellence in Robotics & AI, https://ror.org/025602r80 Scuola Superiore Sant’Anna , Pisa, ItalyIUVO S.r.l., Pontedera, ItalyThe BioRobotics Institute, https://ror.org/025602r80 Scuola Superiore Sant’Anna , Pisa, Italy Department of Excellence in Robotics & AI, https://ror.org/025602r80 Scuola Superiore Sant’Anna , Pisa, ItalyThe BioRobotics Institute, https://ror.org/025602r80 Scuola Superiore Sant’Anna , Pisa, Italy Department of Excellence in Robotics & AI, https://ror.org/025602r80 Scuola Superiore Sant’Anna , Pisa, ItalyThe BioRobotics Institute, https://ror.org/025602r80 Scuola Superiore Sant’Anna , Pisa, Italy Department of Excellence in Robotics & AI, https://ror.org/025602r80 Scuola Superiore Sant’Anna , Pisa, ItalyUpper-limb occupational exoskeletons reduce injuries during overhead work. Previous studies focused on muscle activation with and without exoskeletons, but their impact on shoulder fatigue remains unclear. Additionally, no studies have explored how exoskeleton support levels affect fatigue. This study investigates the effects of assistive profiles on muscular and cardiovascular fatigue. Electromyographic (EMG) and electrocardiographic signals were collected to compute EMG median frequency (MDF), heart rate (HR), and heart rate variability (HRV). Fatigue was assessed using three MDF and HR metrics: relative change ( $ {\mathrm{MDF}}_{\Delta } $ , $ {\mathrm{HR}}_{\Delta } $ ), slope ( $ {\mathrm{MDF}}_{\mathrm{slope}} $ , $ \mathrm{H}{\mathrm{R}}_{\mathrm{slope}} $ ), and intercept ( $ {\mathrm{MDF}}_{\mathrm{intercept}} $ , $ \mathrm{H}{\mathrm{R}}_{\mathrm{intercept}} $ ) of the linear regression. Results showed $ {\mathrm{MDF}}_{\Delta } $ decreased 64% (p = 0.0020) with higher assistance compared to no exoskeleton; $ {\mathrm{HR}}_{\Delta } $ decreased 40% (p < 0.0273) with lower assistance, $ {\mathrm{MDF}}_{\mathrm{slope}} $ decreased up to 67% (p = 0.0039) and $ \mathrm{H}{\mathrm{R}}_{\mathrm{slope}} $ by 43% (p < 0.0098) with higher and medium assistance. HRV metrics included root mean square of successive differences (RMSSD) and low-frequency to high-frequency power ratio (LF/HF). RMSSD indicated parasympathetic dominance, while rising LF/HF ratio suggested physiological strain. Findings support occupational exoskeletons as ergonomic tools for reducing fatigue.https://www.cambridge.org/core/product/identifier/S263171762510008X/type/journal_articleexoskeletonsbiomechanicshuman-robot interaction |
| spellingShingle | Seemab Zakir Lorenzo Grazi Francesco Giovacchini Nicola Vitiello Emilio Trigili Simona Crea Evaluation of fatigue progression during overhead tasks and the effects of exoskeleton assistance Wearable Technologies exoskeletons biomechanics human-robot interaction |
| title | Evaluation of fatigue progression during overhead tasks and the effects of exoskeleton assistance |
| title_full | Evaluation of fatigue progression during overhead tasks and the effects of exoskeleton assistance |
| title_fullStr | Evaluation of fatigue progression during overhead tasks and the effects of exoskeleton assistance |
| title_full_unstemmed | Evaluation of fatigue progression during overhead tasks and the effects of exoskeleton assistance |
| title_short | Evaluation of fatigue progression during overhead tasks and the effects of exoskeleton assistance |
| title_sort | evaluation of fatigue progression during overhead tasks and the effects of exoskeleton assistance |
| topic | exoskeletons biomechanics human-robot interaction |
| url | https://www.cambridge.org/core/product/identifier/S263171762510008X/type/journal_article |
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