{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,22]],"date-time":"2026-10-22T16:50:32Z","timestamp":1792687832037,"version":"4.5.0"},"reference-count":44,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2025,8,29]],"date-time":"2025-08-29T00:00:00Z","timestamp":1756425600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2025,8,29]],"date-time":"2025-08-29T00:00:00Z","timestamp":1756425600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Sci Rep"],"DOI":"10.1038\/s41598-025-14747-w","type":"journal-article","created":{"date-parts":[[2025,8,29]],"date-time":"2025-08-29T13:37:39Z","timestamp":1756474659000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Ergonomic assessment of a multi-joint actuated lower extremity exoskeleton to assist dynamic lifting and carrying tasks"],"prefix":"10.1038","volume":"15","author":[{"given":"Fatai","family":"Sado","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Raja Ariffin Raja","family":"Ghazilla","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mukhtar Fatihu","family":"Hamza","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hwa Jen","family":"Yap","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Waleed Fekry","family":"Faris","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Norhafizan","family":"Ahmad","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lubna A.","family":"Gabralla","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohamad Khoiru","family":"Rusydi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haruna","family":"Chiroma","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2025,8,29]]},"reference":[{"issue":"3","key":"14747_CR1","first-page":"334","volume":"47","author":"IJ Kim","year":"2024","unstructured":"Kim, I. J. Ergonomic assessment for work-related musculoskeletal disorders: a case study on office workers in two government organisations in the united Arab Emirates. Int. J. Ind. Syst. Eng. 47 (3), 334\u2013353 (2024).","journal-title":"Int. J. Ind. Syst. Eng."},{"key":"14747_CR2","doi-asserted-by":"publisher","first-page":"102972","DOI":"10.1016\/j.apergo.2019.102972","volume":"82","author":"RJ Holden","year":"2020","unstructured":"Holden, R. J., Cornet, V. P. & Valdez, R. S. Patient ergonomics: 10-year mapping review of patient-centered human factors. Appl. Ergon. 82, 102972 (2020).","journal-title":"Appl. Ergon."},{"key":"14747_CR3","doi-asserted-by":"publisher","first-page":"101572","DOI":"10.1016\/j.techsoc.2021.101572","volume":"65","author":"A Reiman","year":"2021","unstructured":"Reiman, A., Kaivo-Oja, J., Parviainen, E., Takala, E. P. & Lauraeus, T. Human factors and ergonomics in manufacturing in the industry 4.0 context\u2013A scoping review. Technol. Soc. 65, 101572 (2021).","journal-title":"Technol. Soc."},{"issue":"5","key":"14747_CR4","doi-asserted-by":"publisher","first-page":"1526","DOI":"10.3390\/s25051526","volume":"25","author":"JE Naranjo","year":"2025","unstructured":"Naranjo, J. E., Mora, C. A., Villag\u00f3mez, D. F. B., Falconi, M. G. M. & Garcia, M. V. Wearable sensors in industrial ergonomics: enhancing safety and productivity in industry 4.0. Sens. (Basel Switzerland). 25 (5), 1526 (2025).","journal-title":"Sens. (Basel Switzerland)"},{"key":"14747_CR5","doi-asserted-by":"crossref","unstructured":"\u0410kulov, A., Zhelieznov, K., Zabolotny, \u041e., Chabaniuk, E. & Shvets, A. Training simulators for crane operators and drivers. Eng. Today, 2, 1 (2023).","DOI":"10.5937\/engtoday2300003A"},{"key":"14747_CR6","doi-asserted-by":"publisher","first-page":"104103","DOI":"10.1016\/j.apergo.2023.104103","volume":"113","author":"A Golabchi","year":"2023","unstructured":"Golabchi, A. et al. A framework for evaluation and adoption of industrial exoskeletons. Appl. Ergon. 113, 104103 (2023).","journal-title":"Appl. Ergon."},{"issue":"1","key":"14747_CR7","doi-asserted-by":"publisher","first-page":"5435","DOI":"10.1038\/s41598-025-89764-w","volume":"15","author":"L Sun","year":"2025","unstructured":"Sun, L., Deng, A., Wang, H., Zhou, Y. & Song, Y. A soft exoskeleton for hip extension and flexion assistance based on reinforcement learning control. Sci. Rep. 15 (1), 5435 (2025).","journal-title":"Sci. Rep."},{"key":"14747_CR8","first-page":"3","volume":"7","author":"T McFarland","year":"2019","unstructured":"McFarland, T. & Fischer, S. Considerations for industrial use: a systematic review of the impact of active and passive upper limb exoskeletons on physical exposures. IISE Trans. Occup. Ergon. Hum. Factors. 7, 3\u20134 (2019).","journal-title":"IISE Trans. Occup. Ergon. Hum. Factors"},{"key":"14747_CR9","doi-asserted-by":"crossref","unstructured":"Lee, H., Ferguson, P. W. & Rosen, J. Lower limb exoskeleton systems\u2014overview. Wearable Robot. 207\u2013229 (2020).","DOI":"10.1016\/B978-0-12-814659-0.00011-4"},{"key":"14747_CR10","doi-asserted-by":"crossref","unstructured":"Wehner, M., Rempel, D. & Kazerooni, H. Lower extremity exoskeleton reduces back forces in lifting. In Dynamic Systems and Control Conference, vol. 48937, 49\u201356 (2009).","DOI":"10.1115\/DSCC2009-2644"},{"issue":"2","key":"14747_CR11","first-page":"140","volume":"10","author":"A Vahedi","year":"2022","unstructured":"Vahedi, A. & Dianat, I. Industrial exoskeletons, challenges and suggestions in ergonomic studies. Iran. J. Ergon. 10 (2), 140\u2013150 (2022).","journal-title":"Iran. J. Ergon."},{"issue":"7","key":"14747_CR12","doi-asserted-by":"publisher","first-page":"1573","DOI":"10.1109\/TNSRE.2020.2989481","volume":"28","author":"D Pinto-Fernandez","year":"2020","unstructured":"Pinto-Fernandez, D. et al. Performance evaluation of lower limb exoskeletons: a systematic review. IEEE Trans. Neural Syst. Rehabil. Eng. 28 (7), 1573\u20131583 (2020).","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"14747_CR13","doi-asserted-by":"publisher","unstructured":"Kuber, P. M., Alemi, M. M. & Rashedi, E. A Systematic Review on Lower-Limb Industrial Exoskeletons: Evaluation Methods, Evidence, and Future Directions, (in eng), Ann. Biomed. Eng. 51(8), 1665\u20131682. https:\/\/doi.org\/10.1007\/s10439-023-03242-w (2023).","DOI":"10.1007\/s10439-023-03242-w"},{"key":"14747_CR14","doi-asserted-by":"crossref","unstructured":"Pesenti, M., Antonietti, A., Gandolla, M. & Pedrocchi, A. Towards a functional performance validation standard for industrial low-back exoskeletons: state of the art review. Sensors. 21(3), 808 (2021). https:\/\/www.mdpi.com\/1424-8220\/21\/3\/808","DOI":"10.3390\/s21030808"},{"key":"14747_CR15","doi-asserted-by":"crossref","unstructured":"Poochada, W., Chaiklieng, S. & Andajani, S. Musculoskeletal Disorders among Agricultural Workers of Various Cultivation Activities in Upper Northeastern Thailand, Safety. 8(3), 61 (2022). https:\/\/www.mdpi.com\/2313-576X\/8\/3\/61","DOI":"10.3390\/safety8030061"},{"key":"14747_CR16","doi-asserted-by":"publisher","unstructured":"Sado, F., Yap, H. J., Ghazilla, R. A. R. & Ahmad, N. Design and control of a wearable lower-body exoskeleton for squatting and walking assistance in manual handling works. Mechatronics. 63, 102272. https:\/\/doi.org\/10.1016\/j.mechatronics.2019.102272 (2019).","DOI":"10.1016\/j.mechatronics.2019.102272"},{"key":"14747_CR17","doi-asserted-by":"crossref","unstructured":"Lee, H., Ferguson, P. W. & Rosen, J. Chapter 11 - Lower limb exoskeleton Systems\u2014Overview. In Wearable Robotics (eds. Rosen, J. & Ferguson, P. W.) 207\u2013229 (Academic, 2020).","DOI":"10.1016\/B978-0-12-814659-0.00011-4"},{"key":"14747_CR18","doi-asserted-by":"crossref","unstructured":"Gull, M. A., Bai, S. & Bak, T. A review on design of upper limb exoskeletons. Robotics. 9(1), 16 (2020).","DOI":"10.3390\/robotics9010016"},{"key":"14747_CR19","doi-asserted-by":"crossref","unstructured":"Karthik, V., Das, S., Nayak, S. & Pandey, A. Lower limb exoskeletons, Application-Centric classifications: A review. J. Field Robot. (2025).","DOI":"10.1002\/rob.22529"},{"issue":"8","key":"14747_CR20","doi-asserted-by":"publisher","first-page":"1665","DOI":"10.1007\/s10439-023-03242-w","volume":"51","author":"PM Kuber","year":"2023","unstructured":"Kuber, P. M., Alemi, M. M. & Rashedi, E. A systematic review on Lower-Limb industrial exoskeletons: evaluation methods, evidence, and future directions. Ann. Biomed. Eng. 51 (8), 1665\u20131682 (2023).","journal-title":"Ann. Biomed. Eng."},{"key":"14747_CR21","doi-asserted-by":"crossref","unstructured":"Pratt, J. E., Krupp, B. T., Morse, C. J. & Collins, S. H. The RoboKnee: an exoskeleton for enhancing strength and endurance during walking. In IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA\u201904. 2004, vol. 3, 2430\u20132435 (IEEE, 2004).","DOI":"10.1109\/ROBOT.2004.1307425"},{"issue":"6","key":"14747_CR22","doi-asserted-by":"publisher","first-page":"938","DOI":"10.1109\/TNSRE.2013.2248749","volume":"21","author":"T Lenzi","year":"2013","unstructured":"Lenzi, T., Carrozza, M. C. & Agrawal, S. K. Powered hip exoskeletons can reduce the user\u2019s hip and ankle muscle activations during walking. IEEE Trans. Neural Syst. Rehabil. Eng. 21 (6), 938\u2013948 (2013).","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"14747_CR23","doi-asserted-by":"publisher","first-page":"423","DOI":"10.3389\/fnhum.2014.00423","volume":"8","author":"F Sylos-Labini","year":"2014","unstructured":"Sylos-Labini, F. et al. EMG patterns during assisted walking in the exoskeleton. Front. Hum. Neurosci. 8, 423 (2014).","journal-title":"Front. Hum. Neurosci."},{"issue":"4","key":"14747_CR24","doi-asserted-by":"publisher","first-page":"881","DOI":"10.3233\/THC-213177","volume":"30","author":"Y He","year":"2022","unstructured":"He, Y., Liu, J., Li, F., Cao, W. & Wu, X. Design and analysis of a lightweight lower extremity exoskeleton with novel compliant ankle joints. Technol. Health Care. 30 (4), 881\u2013894 (2022).","journal-title":"Technol. Health Care"},{"key":"14747_CR25","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1016\/j.apergo.2017.11.004","volume":"68","author":"K Huysamen","year":"2018","unstructured":"Huysamen, K. et al. Assessment of an active industrial exoskeleton to aid dynamic lifting and Lowering manual handling tasks. Appl. Ergon. 68, 125\u2013131 (2018).","journal-title":"Appl. Ergon."},{"key":"14747_CR26","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.robot.2018.05.008","volume":"107","author":"HK Ko","year":"2018","unstructured":"Ko, H. K., Lee, S. W., Koo, D. H., Lee, I. & Hyun, D. J. Waist-assistive exoskeleton powered by a singular actuation mechanism for prevention of back-injury. Robot Auton. Syst. 107, 1\u20139 (2018).","journal-title":"Robot Auton. Syst."},{"key":"14747_CR27","doi-asserted-by":"crossref","unstructured":"Jones, B. & Kenward, M. G. Design and Analysis of cross-over Trials (Chapman and Hall\/CRC, 2014).","DOI":"10.1201\/b17537"},{"key":"14747_CR28","unstructured":"Li, C. S. & Davis, C. Des. Anal. Crossover Trials (2016)."},{"key":"14747_CR29","doi-asserted-by":"crossref","unstructured":"Chow, S. C., Shao, J., Wang, H. & Lokhnygina, Y. Sample Size Calculations in Clinical Research (Chapman and Hall\/CRC, 2017).","DOI":"10.1201\/9781315183084"},{"key":"14747_CR30","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1186\/s12984-018-0468-6","volume":"15","author":"CA McGibbon","year":"2018","unstructured":"McGibbon, C. A. et al. Evaluation of the Keeogo exoskeleton for assisting ambulatory activities in people with multiple sclerosis: an open-label, randomized, cross-over trial. J. NeuroEng. Rehabil. 15, 1\u201314 (2018).","journal-title":"J. NeuroEng. Rehabil"},{"key":"14747_CR31","unstructured":"Karunarathna, I., De Alvis, K., Gunasena, P. & Jayawardana, A. Designing and conducting clinical research: methodological approaches. J. Clin. Res. 1\u201313 (2024)."},{"key":"14747_CR32","unstructured":"Coggon, D., Barker, D. & Rose, G. Epidemiology for the Uninitiated (Wiley, 2009)."},{"key":"14747_CR33","doi-asserted-by":"crossref","unstructured":"Nur, N. M., Rahman, N. A. A., Majid, Z. A., Zulkefli, N. F. & Zuhudi, N. Z. M. Ergonomics risk factors in manual handling tasks: A vital piece of information. In Industrial Revolution in Knowledge Management and Technology, 1\u20138 (Springer, 2023).","DOI":"10.1007\/978-3-031-29265-1_1"},{"issue":"3","key":"14747_CR34","doi-asserted-by":"publisher","first-page":"465","DOI":"10.1113\/EP090981","volume":"108","author":"M Marzouk","year":"2023","unstructured":"Marzouk, M., McKeown, D. J., Borg, D. N., Headrick, J. & Kavanagh, J. J. Perceptions of fatigue and neuromuscular measures of performance fatigability during prolonged low-intensity elbow flexions. Exp. Physiol. 108 (3), 465\u2013479. https:\/\/doi.org\/10.1113\/EP090981 (2023).","journal-title":"Exp. Physiol."},{"key":"14747_CR35","doi-asserted-by":"crossref","unstructured":"Hoffmann, N., Prokop, G. & Weidner, R. Methodologies for evaluating exoskeletons with industrial applications. Ergonomics. 65(2), 276\u2013295 (2022).","DOI":"10.1080\/00140139.2021.1970823"},{"issue":"7","key":"14747_CR36","doi-asserted-by":"publisher","first-page":"e0200193","DOI":"10.1371\/journal.pone.0200193","volume":"13","author":"F Sado","year":"2018","unstructured":"Sado, F., Yap, H. J., Ghazilla, R. A. R. & Ahmad, N. Exoskeleton robot control for synchronous walking assistance in repetitive manual handling works based on dual unscented Kalman filter. PLoS One. 13 (7), e0200193 (2018).","journal-title":"PLoS One"},{"key":"14747_CR37","doi-asserted-by":"publisher","first-page":"103877","DOI":"10.1016\/j.apergo.2022.103877","volume":"106","author":"I Pacifico","year":"2023","unstructured":"Pacifico, I. et al. Evaluation of a spring-loaded upper-limb exoskeleton in cleaning activities. Appl. Ergon. 106, 103877 (2023).","journal-title":"Appl. Ergon."},{"key":"14747_CR38","doi-asserted-by":"crossref","unstructured":"Farris, D. J. et al. A systematic literature review of evidence for the use of assistive exoskeletons in defence and security use cases. Ergonomics. 66(1), 61\u201387 (2023).","DOI":"10.1080\/00140139.2022.2059106"},{"key":"14747_CR39","doi-asserted-by":"publisher","first-page":"70","DOI":"10.1016\/j.jelekin.2019.03.010","volume":"46","author":"RM Enoka","year":"2019","unstructured":"Enoka, R. M. Physiological validation of the decomposition of surface EMG signals. J. Electromyogr. Kinesiol. 46, 70\u201383 (2019).","journal-title":"J. Electromyogr. Kinesiol."},{"key":"14747_CR40","doi-asserted-by":"publisher","first-page":"102874","DOI":"10.1016\/j.jelekin.2024.102874","volume":"76","author":"M Besomi","year":"2024","unstructured":"Besomi, M. et al. Consensus for experimental design in electromyography (CEDE) project: checklist for reporting and critically appraising studies using EMG (CEDE-Check). J. Electromyogr. Kinesiol. 76, 102874 (2024).","journal-title":"J. Electromyogr. Kinesiol."},{"key":"14747_CR41","doi-asserted-by":"crossref","unstructured":"Kim, W. S., Lee, H. D., Lim, D. H., Han, C. S. & Han, J. S. Development of a lower extremity exoskeleton system for walking assistance while load carrying. In Nature-Inspired Mobile Robotics, 35\u201342.","DOI":"10.1142\/9789814525534_0008"},{"key":"14747_CR42","doi-asserted-by":"publisher","unstructured":"Frost, D. M., Abdoli, E. M. & Stevenson, J. M. PLAD (personal lift assistive device) stiffness affects the lumbar flexion\/extension moment and the posterior chain EMG during symmetrical lifting tasks, (in eng). J. Electromyogr. Kinesiol. 19 (6), e403\u2013e412. https:\/\/doi.org\/10.1016\/j.jelekin.2008.12.002 (2009).","DOI":"10.1016\/j.jelekin.2008.12.002"},{"key":"14747_CR43","doi-asserted-by":"publisher","unstructured":"Luger, T., Seibt, R., Cobb, T. J., Rieger, M. A. & Steinhilber, B. Influence of a passive lower-limb exoskeleton during simulated industrial work tasks on physical load, upper body posture, postural control and discomfort. Appl. Ergon. 80, 152\u2013160. https:\/\/doi.org\/10.1016\/j.apergo.2019.05.018 (2019).","DOI":"10.1016\/j.apergo.2019.05.018"},{"key":"14747_CR44","doi-asserted-by":"publisher","unstructured":"Luger, T. et al. A passive back exoskeleton supporting symmetric and asymmetric lifting in stoop and squat posture reduces trunk and hip extensor muscle activity and adjusts body posture\u2014A laboratory study. Appl. Ergon. 97, 103530. https:\/\/doi.org\/10.1016\/j.apergo.2021.103530 (2021).","DOI":"10.1016\/j.apergo.2021.103530"}],"updated-by":[{"DOI":"10.1038\/s41598-026-43899-6","type":"correction","label":"Correction","source":"publisher","updated":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T00:00:00Z","timestamp":1773792000000}}],"container-title":["Scientific Reports"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.nature.com\/articles\/s41598-025-14747-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41598-025-14747-w","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41598-025-14747-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T08:23:59Z","timestamp":1773822239000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.nature.com\/articles\/s41598-025-14747-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,8,29]]},"references-count":44,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2025,12]]}},"alternative-id":["14747"],"URL":"https:\/\/doi.org\/10.1038\/s41598-025-14747-w","relation":{},"ISSN":["2045-2322"],"issn-type":[{"value":"2045-2322","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,8,29]]},"assertion":[{"value":"26 February 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"4 August 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"29 August 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 March 2026","order":5,"name":"change_date","label":"Change Date","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"Correction","order":6,"name":"change_type","label":"Change Type","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"A Correction to this paper has been published:","order":7,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"https:\/\/doi.org\/10.1038\/s41598-026-43899-6","URL":"https:\/\/doi.org\/10.1038\/s41598-026-43899-6","order":8,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}},{"value":"Informed consent was obtained from all individual participants included in the study.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"The authors affirm that human research participants provided informed consent for publication of the images in Figs.\u00a0\n                      \n                      and\n                      \n                      .","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to publish"}}],"article-number":"31868"}}