Comau MATE-XT User Handbook Manual
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Comau MATE-XT User Handbook Manual

Exoskeleton
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MATE-XT
EXOSKELETON
Rel. 1.0
User's handbook
CR00758256-en_00/2021.03
Instruction Handbook

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Summary of Contents for Comau MATE-XT

  • Page 1 MATE-XT EXOSKELETON Rel. 1.0 User's handbook CR00758256-en_00/2021.03 Instruction 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 © 2008-2021 by COMAU - Published 03/2021...

  • Page 3: Table Of Contents

    MATE-XT: portable exoskeleton ........
  • Page 4 Comau Robotics Product Instruction SUMMARY Adjustment of TGB inclination ..........27 Adjustment of assistance level.

  • Page 5: Preface

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

  • Page 6: Documentation Storage

    Documentation storage All documentation supplied must be stored in the immediate vicinity of the area where the MATE-XT is in use, kept available to all persons working there and kept intact throughout its operational life. Limits on the handbook contents...

  • Page 7: Symbols Used In The Handbook

    Comau Robotics Product Instruction PREFACE Symbols used in the handbook Below are indicated the symbols that represent: WARNING, CAUTION and NOTES and their meaning. This symbol indicates operating procedures, technical information and precautions that if are not observed and/or correctly performed may cause injuries to the personnel.

  • Page 8: 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 2021/03 00/2021.03 First release of the handbook...

  • Page 9: General Overview

    - Example of shoulder flexion-extension movement The instructions contained in this handbook are sufficient to ensure 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. for assistance.

  • Page 10: Intended Use

    In order to use the device correctly and in complete safety, dedicated training is required. Please refer to the documentation provided with the device. MATE-XT can only be used by people in good physical and psychological health. People affected by the following diseases, or with a medical history involving the following diseases, should consult their doctor before using MATE-XT: –...

  • Page 11: Individual Use Of The Mate-Xt

    1.6 Storage of the MATE-XT The MATE-XT should be stored in a dry place, preferably hung on a rack. Do not handle the MATE-XT by its plastic parts. Lift and handle the device by gripping it by the carbon fibre rear frame.

  • Page 12: Unintended Uses

    1.8 Warranty COMAU S.p.A. guarantees the quality of construction and materials of the MATE-XT 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 13: Safety

    – Device certification; – Residual risks. 2.1 Device certification The MATE-XT exoskeleton is a product of Comau S.p.a. Via Rivalta 30, 10095 Grugliasco (TO). – Name: MATE-XT – Release: 1.0 – Serial number: found on the product label placed on the inner surface of the exoskeleton –...
  • Page 14 Comau Robotics Product Instruction SAFETY Fig. 2.2 - CE Declaration of Conformity...

  • Page 15: Residual Risks

    Torque Generator Box (TGB) while the device is in use may result in pinching of the fingers. This warning also applies to people who may be around the user of the MATE-XT when the device is in use. Danger of collision with the TGB If UNLOCK position is selected when the device is not fixed to the arm, the Torque Generator Box may activate if inadvertently placed in rotation.

  • Page 16: Description

    The assistive torques are maximum for bending angles of about 90° (Fig. 1.1). Fig. 3.1 - MATE-XT exoskeleton - front view...

  • Page 17: Physical Human-Robot Interface (Phri)

    Comau Robotics Product Instruction DESCRIPTION 3.1.1 Physical Human-Robot Interface (pHRi) The main function of pHRi is to enable and ensure the correct distribution of loads between the device and the user. The Human-Robot physical interface is made of non-allergenic and non-toxic materials.

  • Page 18: Passive Degrees Of Freedom (Pdofs)

    DESCRIPTION 3.1.2 Passive degrees of freedom (pDOFs) Passive degrees of freedom (Fig. 3.3) allow the correct wearing of MATE-XT and its adaptation to different body sizes. When the device is worn correctly (see par. 5.2 Wearing procedure on page 32) the degree of passive freedom can ensure alignment with the flexion-extension axis of the user's shoulder.

  • Page 19: Torque Generator Box (Tgb)

    Comau Robotics Product Instruction DESCRIPTION 3.1.3 Torque Generator Box (TGB) Fig. 3.4 - Torque Generator Box: overview Structure of the mechanism housing Hexagonal seat for adjusting the assistance level External cover Locking mechanism...

  • Page 20: Operation Of The Torque Generator Box Locking Mechanism

    Comau Robotics Product Instruction DESCRIPTION 3.1.3.1 Operation of the Torque Generator Box locking mechanism 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 (detailed procedure in par.

  • Page 21: Locking And Unlocking The Torque Generator Box

    Comau Robotics Product Instruction DESCRIPTION 3.1.3.2 Locking and unlocking the Torque Generator Box The LOCK position must be selected before the device is removed, while the UNLOCK position must only be selected after locking the TGB to the arm: –...

  • Page 22: Technical Features

    Comau Robotics Product Instruction DESCRIPTION 3.2 Technical features Feature Description Sizes Mass (size L) 3 kg (6.6 lb) Noise below 70 dB(A) Operating temperature from 0 to 45 °C (from 32 to 113°F) Protection degree IP54 splash-proof and dust-proof Resistance to ultraviolet light...

  • Page 23: Adjustment

    Comau Robotics Product Instruction ADJUSTMENT ADJUSTMENT This chapter contains the following topics: – Adjustment of lumbar support; – Adjustment of shoulder width; – Adjustment of TGB inclination; – Adjustment of assistance level. All the adjustments described below are intended to increase the comfort of use of the device.

  • Page 24: Adjustment Of Lumbar Support

    The most suitable level is the one that allows the lumbar pad to be placed on the lumbar curve of the spine (so that the MATE-XT can lie on the iliac crest) and the upper part of the rear support can touch the shoulder blades.
  • Page 25 Comau Robotics Product Instruction ADJUSTMENT Adjust the rear support when the device is not worn. Open the protective panel on the back of the device. Pull the spring button back. Remove the Velcro fastener on the underside of the T.

  • Page 26: Adjustment Of Shoulder Width

    Comau Robotics Product Instruction ADJUSTMENT 4.2 Adjustment of shoulder width The table below provides guidance on how to choose the correct adjustment. First measure the width of the shoulders without wearing the device, then adjust the lengths of the rear elastic straps by pulling or loosening them as necessary as shown in Fig.

  • Page 27: Adjustment Of Tgb Inclination

    Comau Robotics Product Instruction ADJUSTMENT 4.3 Adjustment of TGB inclination Tab. 4.3 - Matrix for inclination adjustment [cm] Less From From From From From From From than 31 31 to 34 34 to 38 38 to 41 41 to 44...
  • Page 28 Comau Robotics Product Instruction ADJUSTMENT Equipment required: – 4 mm Allen wrench Position the Allen wrench in the hex seat on top of the passive degrees of freedom. Turn the wrench so that the adjustment level indicator corresponds to the level...

  • Page 29: Adjustment Of Assistance Level

    Comau Robotics Product Instruction ADJUSTMENT 4.4 Adjustment of assistance level Different assistance levels can be set on the MATE-XT. The value of the assistance level must be chosen by the user by looking at Tab. 4.4. This table was created by taking into account parameters such as height and body mass of the potential user group.
  • Page 30 Comau Robotics Product Instruction ADJUSTMENT Fig. 4.3 - Close view of the adjustment seat on the Torque Generator Box and the assistance level indicator Required instruments: – 6 mm Allen wrench Position the Allen wrench in the hex seat on the Torque Generator Box.

  • Page 31: Use

    Comau Robotics Product Instruction This chapter contains the following topics: – Precautions for use; – Wearing procedure; – Installation of belt extenders; – Adjusting the front buckle; – Undressing procedure. 5.1 Precautions for use Before starting to use the device, check the integrity of the wearable interface and the cleaning of the exposed mechanical parts that make up the pDOFs and the Torque Generator Box.

  • Page 32: Wearing Procedure

    Comau Robotics Product Instruction 5.2 Wearing procedure The MATE-XT is designed 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 33 Comau Robotics Product Instruction • Adhere the Velcro ends of the adjusting straps to the Velcro belt. Fig. 5.2 - Velcro end positioned on the Velcro belt...
  • Page 34 Comau Robotics Product Instruction • Open the straps of the arm supports. Fig. 5.3 - Opening of the arm support strap and momentary fixing of the strap on itself...
  • Page 35 Correct wearing requires that the lumbar pad is positioned on the lumbar curve of the spine (so that the MATE-XT can lie on the iliac crest), and that the upper part of the back support rests on the shoulder blades.
  • Page 36 Comau Robotics Product Instruction The Velcro tensioning belt is adjusted by pulling the laces with the Velcro ends visible in Fig. 5.5. By pulling and loosening them, it is possible to adjust the tightness of the belt for different users and body sizes.
  • Page 37 Comau Robotics Product Instruction Bring an arm into contact with its support Rotate the torque generator box so that it supports the arm. Fig. 5.7 - Torque Generator Box activation procedure Close the arm support strap. Fig. 5.8 - Closing the arm support strap...
  • Page 38 Comau Robotics Product Instruction Close and tighten the front buckle. Fig. 5.9 - Closing the central buckle...

  • Page 39: Installation Of Belt Extenders

    Comau Robotics Product Instruction 5.3 Installation of belt extenders The MATE-XT is supplied with a Velcro belt extenders to be installed if required, depending on the circumference. Follow the reference table: Tab. 5.1 - References for belt extender installation Waist circumference Number of extenders Less than 98 cm (3.21 ft)

  • Page 40: Adjusting The Front Buckle

    Comau Robotics Product Instruction 5.4 Adjusting the front buckle Further adjustment of the height and length of the front buckle may be necessary. Bringing the shoulder straps together and away prevents the possibility of relative slippage between the shoulder straps and the user's arms.

  • Page 41: Undressing Procedure

    Comau Robotics Product Instruction 5.5 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 in Fig. 5.12. Fig. 5.12 - Opening the arm support strap Move the corresponding arm backwards.
  • Page 42 Comau Robotics Product Instruction Lock the locking mechanism of the corresponding Torque Generator Box. Fig. 5.14 - Locking the TGB locking mechanism Open the front buckle. Fig. 5.15 - Opening the front buckle...
  • Page 43 Comau Robotics Product Instruction Detach the Velcro ends of the adjustment straps, and attach them laterally to the Velcro belt. Fig. 5.16 - Opening the adjustment straps of the Velcro belt Open the Velcro belt. Fig. 5.17 - Opening the Velcro belt.
  • Page 44 Comau Robotics Product Instruction Remove the MATE-XT by pulling it out by the padded shoulder straps. Fig. 5.18 - Last phase of the MATE-XT undressing...

  • Page 45: Cleaning And Maintenance Of The Device

    Procedure for reassembling the fabric parts; – Scheduled maintenance; – Spare parts list. 6.1 Sanitisation – To sanitise the MATE-XT parts, we recommend the use of a spray with max. 60% alcohol concentration. – Sanitisation can also be carried out on a daily basis.

  • Page 46: Cleaning Of Rigid Parts

    CLEANING AND MAINTENANCE OF THE DEVICE 6.2 Cleaning of rigid parts – Clean the rigid parts and exposed mechanical components of the MATE-XT device using a dry or lightly soaked with water cloth and neutral soap. – Do not use aggressive cleaning agents, gases, alcohol or diluents.

  • Page 47: Cleaning Of Fabric Parts

    51 to reassemble the wearable parts on the device. It is also possible to wash the soft parts directly on the MATE-XT without disassembling the device, using a fabric sanitiser spray (see par. 6.1 Sanitisation on page...

  • Page 48: Procedure For Removing The Fabric Parts

    Comau Robotics Product Instruction CLEANING AND MAINTENANCE OF THE DEVICE 6.4 Procedure for removing the fabric parts Removing the fabric parts requires separating the parts from constraints such as Velcro and buckles. The necessary steps are shown figuratively in the following procedure.
  • Page 49 Comau Robotics Product Instruction CLEANING AND MAINTENANCE OF THE DEVICE Step 5: – remove the lumbar straps from the structure using the Velcro parts; – separate the Velcro parts from the ones present on the movable parts of the lumbar support.
  • Page 50 Comau Robotics Product Instruction CLEANING AND MAINTENANCE OF THE DEVICE Step 7: – remove the padding from the T-structure attached by Velcro. Step 8: – release the Velcro strip from the loop and the slot of the aluminium support; –...

  • Page 51: Procedure For Reassembling The Fabric Parts

    Comau Robotics Product Instruction CLEANING AND MAINTENANCE OF THE DEVICE 6.5 Procedure for reassembling the fabric parts Reassembling the fabric parts requires joining the parts with constraints such as Velcro and buckles. The necessary steps are shown figuratively in the following procedure.
  • Page 52 Comau Robotics Product Instruction CLEANING AND MAINTENANCE OF THE DEVICE Left shoulder strap Right shoulder strap Step 5: – insert the strap into the slot on the carbon structure, passing it from the inside to the outside; – turn it back towards the plastic buckle.
  • Page 53 Comau Robotics Product Instruction CLEANING AND MAINTENANCE OF THE DEVICE Step 6: – insert the straps of the right and left shoulder into the T-structure; – then insert them into the buckles as in step 1 and step 2. The white mark of the strap must be visible towards the plastic ring.
  • Page 54 Comau Robotics Product Instruction CLEANING AND MAINTENANCE OF THE DEVICE Step 9: – mount the movable parts on the lumbar support by inserting them into the appropriate slots and turning them outwards to fix them. Step 10: – insert the lumbar pad into the plastic...
  • Page 55 Comau Robotics Product Instruction CLEANING AND MAINTENANCE OF THE DEVICE Step 11: – mount the lumbar straps by matching their Velcro parts to the floating parts of the plastic structure of the lumbar support. Step 12: – repeat on the right side.

  • Page 56: 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 57: Spare Parts List

    Comau Robotics Product Instruction CLEANING AND MAINTENANCE OF THE DEVICE 6.7 Spare parts list For the maintenance of the MATE-XT, use only original spare parts. Do not use spare parts for different purposes than those indicated. In the following tables are indicated: –...
  • Page 58 Comau Robotics Product Instruction CLEANING AND MAINTENANCE OF THE DEVICE Tab. 6.2 - TGB spare parts Position Comau Part No. Description Quantity CR82458200 Right Torque Generator Box CR82458300 Left Torque Generator Box...

  • Page 59: Parts Disposal

    PARTS DISPOSAL PARTS DISPOSAL – If partial or total disposal of the MATE-XT 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. The disposal operations must be carried out in compliance with the law in force in the country where the MATE-XT is used.
  • Page 60 Comau Robotics Product Instruction PARTS DISPOSAL...
  • Page 62 Original instructions Made in Comau...

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