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Comau MATE Exoskeleton User Handbook Manual

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MATE
Exoskeleton
Rel. 1.0
User's handbook
CR00758209-en_00/2018.12
Instructions Handbook

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Summary of Contents for Comau MATE Exoskeleton

  • Page 1 MATE Exoskeleton Rel. 1.0 User's handbook CR00758209-en_00/2018.12 Instructions Handbook...
  • Page 2 The contents of this handbook are the property of COMAU S.p.A. Any reproduction, even partial, is prohibited without prior written authorization from COMAU S.p.A. COMAU reserves the right to modify, without notice, the features of the product presented in this handbook. Copyright © 2008-2018 by COMAU - Published on 12/2018...

  • Page 3: Table Of Contents

    Comau Robotics Product Instruction SUMMARY SUMMARY PREFACE ..............3 Documentation storage .
  • Page 4 Comau Robotics Product Instruction SUMMARY Central buckle adjustment ........... 32 Adjustment of the rear elastic straps .

  • Page 5: Preface

    Comau Robotics Product Instruction PREFACE PREFACE This chapter contains: – Documentation storage – Limits on the handbook contents – Glossary – Symbols used in the handbook – Modification History.

  • Page 6: Glossary

    Comau Robotics Product Instruction PREFACE Documentation storage All the documentation provided must be placed in the immediate vicinity of the area in which MATE is in use, kept at the disposal of all the people who work there and kept intact throughout its operational life.

  • Page 7: Modification History

    Comau Robotics Product Instruction MODIFICATION HISTORY MODIFICATION HISTORY The following table shows the history of the Handbook release, with related changes / improvements made. Edition of the Date Contents Handbook 2018/12 00/2018.12 First release of the handbook...

  • Page 8: General Introduction

    Comau Robotics Product Instruction GENERAL INTRODUCTION GENERAL INTRODUCTION The Mate exoskeleton is a Comau S.p.a. product. Via Rivalta 30, 10095 Grugliasco (TO). The instructions contained in this handbook should be sufficient to ensure the customer proper use of the device. Read the handbook carefully before using the device. If parts of this user handbook are not clear enough, contact COMAU S.p.a.

  • Page 9: Device Presentation

    Comau Robotics Product Instruction GENERAL INTRODUCTION 1.2 Device presentation – Name: MATE. – Release: 1.0. – Serial number: verifiable on the product label placed on the inner surface of the Torque Generator Box. Fig. 1.2 - Identification plate (example) –...
  • Page 10 Maria Teresa Todarello nom: Maria Teresa Todarello name: Maria Teresa Todarello nombre: Maria Teresa Todarello COMAU si impegna a trasmettere, in risposta COMAU is undertaking to transmit, in response COMAU s'engage à transmettre, suite à une COMAU verpflichtet sich, an die...

  • Page 11: Intended Use

    (see par. 6.2.1 Washing instructions for soft components on page If you have any doubts about the permitted uses of MATE, you can contact Comau for additional information. 1.3.1 First use of MATE It is suggested to start using MATE gradually.

  • Page 12: Temperature And Environmental Operating Conditions

    Comau Robotics Product Instruction GENERAL INTRODUCTION 1.3.2 Temperature and environmental operating conditions MATE can be used in environmental conditions within the following ranges: – Temperature: from 0 to 40 °C (from 32 to 104°F) It is recommended using MATE for 8 hours a day only when the temperature does not exceed 30 °C (86 °F).

  • Page 13: System Overview

    The assistive torques are maximum for bending angles of about 90° (Fig. 1.1). Fig. 2.1 - MATE Exoskeleton - front view...

  • Page 14: Physical Human-Robot Interface (Phri)

    Comau Robotics Product Instruction SYSTEM OVERVIEW 2.1.1 Physical Human-Robot Interface (pHRi) The Human-Robot interface (Fig. 2.2) is composed of non-allergenic and non-toxic materials. In particular, materials such as latex, PVC, phthalates, halogenated organic compounds, carcinogens and reproductive toxins have not been used as indicated in the "Californian Propositions 65", materials on the SVCH list (Substances of very High...

  • Page 15: Passive Degrees Of Freedom (Pdofs)

    The same instructions for use must be applied to both sizes. Please contact Comau to understand which size is most suitable for your needs. As an indicative reference, it is possible to consult the following table: Tab. 2.1 - Indicative references for choosing the appropriate size...

  • Page 16: Torque Generator Box

    Comau Robotics Product Instruction SYSTEM OVERVIEW 2.1.3 Torque Generator Box This paragraph contains: – Description of the main components – Functioning of the locking mechanism – Levels of assistance 2.1.3.1 Description of the main components Fig. 2.4 - Torque Generator Box: overview...

  • Page 17: Functioning Of The Locking Mechanism

    Comau Robotics Product Instruction SYSTEM OVERVIEW 2.1.3.2 Functioning of the locking mechanism Fig. 2.5 - Torque Generator Box (TGB): locking mechanism. LOCK position: locked mechanism, rotation not allowed. UNLOCK position: unlocked mechanism, free rotation. The locking mechanism positioned on the Torque Generator Box is a safety mechanism that prevents the Torque Generator Box from activating when the exoskeleton is not worn.
  • Page 18 Comau Robotics Product Instruction SYSTEM OVERVIEW Fig. 2.6 - Torque Generator Box in rear rest position. This is the only position where the locking mechanism can be activated or deactivated...

  • Page 19: Levels Of Assistance

    Comau Robotics Product Instruction SYSTEM OVERVIEW 2.1.3.3 Levels of assistance MATE can be used by setting various levels of assistance. The value of the assistance level is selected by the user indicatively based on the Tab. 2.2. This table was created taking into account ergonomic assessments and calculations based on the height and body mass of the potential group of users.
  • Page 20 Comau Robotics Product Instruction SYSTEM OVERVIEW Tab. 2.2 - Range of assistance levels in relation to height and weight of the user WEIGHT (kg)

  • Page 21: Preparation And Wearing Of The Device

    Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE PREPARATION AND WEARING OF THE DEVICE This section of the user's handbook explains how to configure and wear MATE. – Initial configuration – Wearing procedure – Further adjustments – Device worn properly –...

  • Page 22: Installation Of Belt Extenders

    Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE 3.1.2.1 Installation of belt extenders MATE size L is supplied with two belt extenders for Velcro belt to be installed if necessary. Depending on the waist circumference, it may be necessary to install a belt extender or two.

  • Page 23: Adjustment Of The Rear Support

    Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE 3.1.2.2 Adjustment of the rear support Adjust the rear support to a not worn device Open the protective panel on the back of the device. Pull the spring button back.

  • Page 24: Adjustment Of The Velcro Belt Tension

    Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE 3.1.2.3 Adjustment of the Velcro belt tension The adjustment of the Velcro belt tension is carried out by pulling the cords with Velcro ends visible in Fig. 3.4. By pulling them and loosening them, it will be possible to adjust the tightness of the belt to different users and body sizes.

  • Page 25: Front Buckle Position And Length Adjustment

    Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE 3.1.2.4 Front buckle position and length adjustment The position of the front buckle can be adjusted according to the various body shapes by sliding it on the padded shoulder straps. Even its length can be adjusted making it more or less tight to the user's chest.

  • Page 26: Adjustment Of The Rear Elastic Straps

    Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE 3.1.2.5 Adjustment of the rear elastic straps The length of the rear elastic straps can be modified by pulling them or loosening them according to the needs, as shown in Fig.

  • Page 27: Adjustment Of The Assistance Level

    Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE 3.1.2.6 Adjustment of the assistance level The assistance level value is a parameter that can be changed according to the user who is wearing the device. The adjustment of the assistance level must be carried out with the device worn and after having unlocked the locking mechanism.

  • Page 28: Wearing Procedure

    Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE 3.2 Wearing procedure – MATE is meant to be worn and undressed by a person independently. – During the first wearing it is necessary to be helped by a trained person who can speed up the understanding of the process, and help to find the best combination of the available adjustments.
  • Page 29 Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE • Adhere the Velcro ends of the adjusting straps to the Velcro belt. Fig. 3.9 - Velcro end positioned on the Velcro belt • Make sure that the locking mechanism is in the LOCK position.
  • Page 30 Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE Wearing procedure Before wearing MATE, check the effective closing of the press-studs on the arm supports (Fig. 6.4). If the press-studs of the arm supports are not correctly closed, it is possible that during use the TGB loses contact with the arm of the user causing a sudden rotation of the TGB itself.
  • Page 31 Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE Repeat the following steps for each arm: Unlock the locking mechanism of the Torque Generator Box. Fig. 3.13 - Unlocking the locking mechanism of the Torque Generator Box. Bring an arm into contact with its support Rotate the torque generator box so that it supports the arm Fig.
  • Page 32 Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE Close the arm support strap. Fig. 3.15 - Closing the arm support strap Close and tighten the front buckle. Fig. 3.16 - Closing buckle adjustment...

  • Page 33: Further Adjustments

    Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE 3.3 Further adjustments Some additional adjustments may be useful for improving the alignment between the device and the user body: – Central buckle adjustment – Adjustment of the rear elastic straps 3.3.1 Central buckle adjustment...

  • Page 34: Adjustment Of The Rear Elastic Straps

    Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE 3.3.2 Adjustment of the rear elastic straps An additional adjustment of the length of the rear elastic straps may be necessary in order to improve the adherence of the device to the user arms.
  • Page 35 Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE Correct positioning Correct position of the Torque Generator Box: between the shoulder and the device there is a light of about 1 cm In this case, the sliding element works in a central position when the...

  • Page 36: Device Worn Properly

    Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE 3.4 Device worn properly Fig. 3.18 - Representation of the correct wearing of MATE A: Check that the rotation axis of the TGB coincides with the rotation axis of the shoulder.

  • Page 37: Undressing Procedure

    Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE 3.5 Undressing procedure The following operations must be repeated for both arms separately Open the support strap of one of the two arms and attach it on itself as shown Fig.
  • Page 38 Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE Fig. 3.21 - Locking the TGB locking mechanism Open the front buckle. Fig. 3.22 - Opening the front buckle...
  • Page 39 Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE Detach the Velcro ends of the adjustment straps, and attach them laterally to the Velcro belt. Fig. 3.23 - Opening the adjustment straps of the Velcro belt Open the Velcro belt.
  • Page 40 Comau Robotics Product Instruction PREPARATION AND WEARING OF THE DEVICE Remove MATE pulling it out by the padded shoulder straps. Fig. 3.25 - Last phase of the MATE undressing...

  • Page 41: Noise Emissions

    Comau Robotics Product Instruction NOISE EMISSIONS NOISE EMISSIONS The sound pressure level does not exceed 70 dB(A).

  • Page 42: Residual Risks

    Comau Robotics Product Instruction RESIDUAL RISKS RESIDUAL RISKS Danger. Pinch point. Keep hands and fingers clear. Bringing fingers closer to the chain of passive degrees of freedom (pDOFs) or the Torque Generator Box (TGB) while the device is in use may result in pinching of the fingers.

  • Page 43: Maintenance And Cleaning Of The Device

    Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE MAINTENANCE AND CLEANING OF THE DEVICE 6.1 Cleaning of rigid parts Clean the rigid parts and exposed mechanical components of the MATE device using a dry or lightly soaked with water cloth and neutral soap. Do not use aggressive cleaning agents, gases, alcohol or diluents.

  • Page 44: Scheduled Maintenance

    The frequency of scheduled maintenance interventions depends on the working conditions of the device. However, it is advisable to always carry out a scheduled maintenance operation when the 12 months of use are reached. Please refer to COMAU for technical assistance and scheduled maintenance (www.comau.com/mate).

  • Page 45: Spare Parts List

    Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE 6.3.1 Spare parts list For the maintenance of MATE use only original spare parts. Do not use spare parts for different purposes than those indicated. In the following tables are indicated: –...
  • Page 46 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Tab. 6.2 - Large pHRI spare parts Position Comau Part No. Description Quantity Removable back padding (Large) CR82438601 Nylon arms supports CR82438502 Removable padded shoulder straps (set) CR82438503 Removable panel...
  • Page 47 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Tab. 6.3 - TGB and pDOFs spare parts Position Comau Part No. Description Quantity TORQUE GENERATOR BOX DX CR82434800 TORQUE GENERATOR BOX SX CR82434900 PASSIVE DOF DX CR82435000 PASSIVE DOF SX...

  • Page 48: Procedure For Disassembling The Parts Of The Fabrics And Padded Parts

    Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE 6.3.2 Procedure for disassembling the parts of the fabrics and padded parts Rear padding: Remove the back padding by gently operating on the Velcro connection. Fig. 6.2 - Removing the back padding Padded shoulder straps: Remove the padded shoulder straps by opening the Velcro connections at the ends.
  • Page 49 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Arm supports: Remove the supports of the arms by opening the side press-stud and sliding them on the aluminium support. Fig. 6.4 - Removing the arm support Remove the rear panel by opening the Velcro connections Fig.
  • Page 50 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Remove the Velcro belt by opening the end connection. Fig. 6.6 - Removing the Velcro belt.

  • Page 51: Interface Resetting Procedure

    Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE 6.3.3 Interface resetting procedure If you need to reset the interface components, use the instructions below: Connect the removable rear padding to the metal structure by connecting the Velcro connections, making sure that the blue reference points coincide in order to be sure of the correct orientation of the component: Fig.
  • Page 52 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Reposition the rear panel, operating on the Velcro connections, making sure that the blue references overlap so as to be sure of the correct orientation of the padding. Fig. 6.9...

  • Page 53: Tgb Replacement Procedure (Cr82434800 - Cr82434900)

    Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE 6.3.4 TGB replacement procedure (CR82434800 - CR82434900) Required instruments: – 2 mm Allen wrench – Torque wrench with 2 mm hex bit (for tightening torque 0.5 Nm). – LOCTITE 222 threadlocker Verify that the TGB is in the lock position (see par.
  • Page 54 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Position Comau Part No. Description Quantity Special washer CR82435008 Passive DOF second pin CR82435007 Uncouple the item “1” (TGB) from the item “2” (pDOF). Fig. 6.11 - Separation of TGB and pDOF...
  • Page 55 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Replace the TGB with the spare part and position the new item “1” (TGB) so that the holes of the forks of the TGB and of the item “2” (pDOF) are aligned.
  • Page 56 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Insert the part “5” (Passive DOF second pin) in all the holes of the forks of the part “1” (TGB) and “2” (pDOF) and check that the head of the pin reaches the mechanical stop.

  • Page 57: Pdof Replacement Procedure (Cr82435000 - Cr82435100)

    Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE 6.3.5 pDOF replacement procedure (CR82435000 - CR82435100) Required instruments: – 2.5 mm Allen wrench – Torque wrench with 2.5 mm hex bit (for tightening torque 0.7 Nm). – Welding gun.
  • Page 58 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Remove the metal terminal of the elastic straps and relax the elastic item, the part “5” (Elastic belt), until removing it from the part “4” (Elastic strap interface). Using an Allen wrench of 2.5 size, disassemble the No.3 screws M3 (part “7”) and the No.3 washers (part “8”) that hold the parts “1”...
  • Page 59 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Unscrew the No.4 screws M3 (part “9”) using a 2.5 mm Allen wrench and remove the No.8 washers (part “8”). Remove the part “1” (SHELL) from the part “6” (pHRI).
  • Page 60 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Position the new part “1” (SHELL) on the carriage of the linear guide of the part “6” (pHRi). Using the torque wrench, tighten the No.4 screws M3 (part “9”) after having inserted under each screw head the No.2 washers (part “8”).
  • Page 61 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Pass the elastic item, part “5” (Elastic belt), into the appropriate slots; let it enter the rear slot and let it come out from the lateral slot of the part “1” (SHELL). Pay attention that during the following assembly phases the elastic belt does not slip.
  • Page 62 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE Assemble the new part “3” (ARM) and the new part “2” (COVER) on the part “1” (SHELL) making sure that the shaft of the part “2” is inserted in the bushings of the parts “1”...
  • Page 63 Comau Robotics Product Instruction MAINTENANCE AND CLEANING OF THE DEVICE 11. Pass both parts of the elastic belt (part “5”) under the two rods "A" and "B" until reaching the middle of the part “4”. 12. Extract the elastic belt, part “5” from the middle groove of the part “4”, let it go backwards passing both parts of the elastic belt over the rod B.

  • Page 64: Warranty

    WARRANTY WARRANTY COMAU S.p.A. guarantees the quality of construction and materials of the MATE exoskeleton for a period of 12 months from the date of delivery. This standard warranty does not cover defects attributable to user errors, incorrect use, negligence or willful misconduct or from any other activity excluded from the allowed uses of the device or otherwise contrary to the instructions contained in the Instructions Handbook.

  • Page 65: Parts Disposal

    Comau Robotics Product Instruction PARTS DISPOSAL PARTS DISPOSAL If partial or total disposal of the MATE is necessary, a separate collection of the parts to be disposed of (e.g. iron with iron and plastic with plastic) must be carried out.
  • Page 66 Comau Robotics Product Instruction PARTS DISPOSAL...
  • Page 68 Original instructions Made in Comau...

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