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This paper presents an insole FSR (Force Sensing Resistor) to dynamicallydetect weight variations in an exoskeleton system. The proposed methodology isintended for tasks of lifting and lowering heavy weights with an industrialexoskeleton to substantially reduce spinal loads during these manual handlingactivities. Instead of extensively placing high-dense force sensors by coveringthe whole plantar area, as most of commercial applications do, we integrateonly a few force sensors in specific plantar area, so that the sensory systemis not restricted to an individual foot size and shape, and on the other handhas relatively lower material cost. Industrial exoskeletons are intended toassist workers when handling heavy goods. With this in mind, wearers are notable to use their hands to control the exoskeleton since they use them tohandle the goods. Therefore, the exoskeleton controller is required toindirectly infer how much and when the wearer requires assistance for liftingor lowering a heavy weight. Our approach of dynamically detect and characterizethe increment/decrement of weight, as well as the rising/falling edge, enablesthe exoskeleton's controller to trigger the request of assistive force to theactuators.

Characterizing Lifting and Lowering Activities with Insole FSR sensors in Industrial Exoskeletons