装着型ロボットテールによる荷役作業のバランスと姿勢の改善

原文アブストラクト

Frequent heavy lifting is linked to musculoskeletal strain, with lower back pain affecting up to 40% of manual labourers. Inspired by animals using tails for balance, we developed a wearable robotic tail as a dynamic counterbalance. Ten participants performed an imitated shelf loading/unloading task across three conditions: active tail, passive tail, and no tail. Kinematics, centre of pressure, and muscle activation (gastrocnemius, erector spinae, tibialis anterior, biceps brachii) were measured. Compared with no tail, the active tail achieved >20 mm reduction in centre of pressure peak displacement, 4.3 degree reduction in trunk motion, and >9% and >20% reductions in erector spinae and gastrocnemius activity, respectively. The passive tail produced smaller reductions, suggesting passive counterbalancing helps while active movement augments it further. Biceps brachii activation increased with the active versus passive tail. The ankle kinematics and tibialis anterior activation were unchanged. These findings support wearable robotic tails for improving balance during material handling.