Comau MATE Exoskeleton Instruction Manual

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

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

SUMMARY
Comau Robotics Product Instruction
3
SUMMARY
PREFACE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Documentation storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Limits on the handbook contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Symbols used in the handbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
MODIFICATION HISTORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
1. GENERAL INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...6
System description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Device presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
First use of MATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Temperature and environmental operating conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Device storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Unintended uses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2. SYSTEM OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...11
System description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Physical Human-Robot Interface (pHRi) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Passive degrees of freedom (pDOFs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Torque Generator Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Description of the main components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Functioning of the locking mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Levels of assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
3. PREPARATION AND WEARING OF THE DEVICE . . . . . . . . . . . . . . . . . . . . . . . . . ...20
Initial configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Choice of the pHRi interface size. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Interface adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Installation of belt extenders. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
Adjustment of the rear support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
Adjustment of the Velcro belt tension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
Front buckle position and length adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Adjustment of the rear elastic straps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
Adjustment of the assistance level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Wearing procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Further adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Comau Robotics Product Instruction
SUMMARY
4
Central buckle adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Adjustment of the rear elastic straps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Device worn properly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Undressing procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4. NOISE EMISSIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..40
5. RESIDUAL RISKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..41
6. MAINTENANCE AND CLEANING OF THE DEVICE. . . . . . . . . . . . . . . . . . . . . . . . . ..42
Cleaning of rigid parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Cleaning of fabric parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Washing instructions for soft components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Scheduled maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Spare parts list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Procedure for disassembling the parts of the fabrics and padded parts . . . . . . . . . . . . . . . . 47
Interface resetting procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
TGB replacement procedure (CR82434800 - CR82434900). . . . . . . . . . . . . . . . . . . . . . . . . 52
pDOF replacement procedure (CR82435000 - CR82435100). . . . . . . . . . . . . . . . . . . . . . . . 56
7. WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..63
8. PARTS DISPOSAL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..64

PREFACE
Comau Robotics Product Instruction
5
PREFACE
This chapter contains:
–Documentation storage
–Limits on the handbook contents
–Glossary
–Symbols used in the handbook
–Modification History.

Comau Robotics Product Instruction
PREFACE
6
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.
Limits on the handbook contents
The images included in the instructions handbook have the purpose to represent the
product
and can differ from what is actually visible on the system.
Glossary
Symbols used in the handbook
Below are indicated the symbols that represent: WARNING, CAUTION and NOTES and
their meaning.
EXOSKELETON Wearable device. It is intended here as a synonym for
MATE.
DEVICE It is intended here as a synonym for MATE.
USER The person wearing MATE.
This symbol indicates operating procedures, technical information and precautions that
if are not observed and/or correctly performed may cause injuries to the staff.
This symbol indicates operating procedures, technical information and precautions that
if are not observed and/or correctly performed may cause equipment damage.
This symbol indicates operating procedures, technical information and precautions that
must be underlined.
The symbol draws the attention to materials disposal that is regulated by the WEEE
Directive.

MODIFICATION HISTORY
Comau Robotics Product Instruction
7
MODIFICATION HISTORY
The following table shows the history of the Handbook release, with related changes /
improvements made.
Date Edition of the
Handbook Contents
2018/12 00/2018.12 First release of the handbook

Comau Robotics Product Instruction
8
GENERAL INTRODUCTION
1. 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. for assistance.
1.1 System description
The device called MATE is a passive portable exoskeleton (without motors), designed
to help the user upper limbs in flexion-extension movements.
It is made integral to the body in three different sites: back, waist and arm through a
wearable garment.
Fig. 1.1 - Example of shoulder flexion-extension movement

GENERAL INTRODUCTION
9
Comau Robotics Product Instruction
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)
–Weight: verifiable on the product label placed on the inner surface of the Torque
Generator Box.
•Size L: 4.1 kg 9.04 lb
•Size M: 4 kg 8.82 lb
–Certification:
• DIRECTIVE 2006/42/EC
• ISO EN 13482

Comau Robotics Product Instruction
10
GENERAL INTRODUCTION
– Declaration of Conformity
Comau S.p.A.
Sede legale: Via Rivalta, 30 Fabbricante (Manufacturer)
10095 Grugliasco - Torino (Italy)
www.comau.com
www.robotics.comau.com
DICHIARAZIONE
CE DI CONFORMITA'
- Direttiva 2006/42/CE -
Allegato IIA
EC DECLARATION OF CONFORMITY
- DIRECTIVE 2006/42/EC -
Annex IIA
DÉCLARATION
CE DE CONFORMITÉ
- Directive 2006/42/CE -
Annexe IIA
EG-KONFORMITÄTSERKLÄRUNG
- Richtlinie 2006/42/EG -
Anhang IIA
DECLARACIÓN
CE DE CONFORMIDAD
- DIRECTIVA 2006/42/CE -
Anexo IIA
IL FABBRICANTE DICHIARA SOTTO LA SUA
RESPONSABILITA' CHE I PRODOTTI
THE MANUFACTURER DECLARES UNDER HIS
OWN RESPONSIBILITY THAT THE PRODUCTS
LE FABRICANT DÉCLARE SOUS SA
RESPONSABILITÉ QUE LES PRODUITS
DER HERSTELLR ERKLÄRT UNTER IHRER
VERANTWORTUNG, DASS DIE PRODUKTE
EL FABRICANTE DECLARA BAJO SU
RESPONSABILIDAD QUE LOS PRODUCTOS
commercial name and model/type
function year of construction: 2018
code CR82434600/CR82434700 code release: serial number
IT EN FR DE ES
SONO IN CONFORMITA' CON I REQUISITI
ESSENZIALI DI SICUREZZA DELLA DIRETTIVA
2006/42/CE.
ARE IN CONFORMITY WITH ESSENTIAL
REQUIREMENTS OF THE DIRECTIVE
2006/42/EC.
SONT CONFORMES AUX EXIGENCES
ESSENTIELLES DE SÉCURITÉ APPLICABLES DE LA
DIRECTIVE 2006/42/CE.
ENTSPRECHEN MIT DEN GRUNDLEGENDEN
SICHERHEITS VORSCHRIFTEN DER RICHTLINIE
2006/42/EG.
ESTÁN DE ACUERDO CON LOS REQUISITOS
ESENCIALES DE SEGURIDAD APLICABLES A LA
DIRECTIVA 2006/42/CE.
Sono realizzati in conformità con la seguente
principale norma armonizzata:
EN ISO 13482:2014
Robots and robotic devices - Safety
requirements for personal care robots
(L’elenco delle direttive e delle norme di
riferimento f contenuto all’interno del
manuale istruzioni).
Are manufactured in compliance with the
following harmonized norms:
EN ISO 13482:2014
Robots and robotic devices - Safety
requirements for personal care robots
(The list of Declarations and the reference
norms is included witihin the instruction
manual)
Ils sont fabriqués en conformité avec les
normes harmonisées suivantes:
EN ISO 13482:2014
Robots and robotic devices - Safety
requirements for personal care robots
(La liste des directives et des normes de
référence est contenue dans le manuel
d'instructions)
Sie werden in Übereinstimmung mit den
folgenden harmonisierten Normen hergestellt:
EN ISO 13482:2014
Robots and robotic devices - Safety
requirements for personal care robots
(Die Liste der Richtlinien und Standards der
Referenz wird in der Betriebsanleitung
enthalten)
Están realizados de conformidad con el
siguiente estándares armonizados:
EN ISO 13482:2014
Robots and robotic devices - Safety
requirements for personal care robots
(El listado de las directivas y normas de
referencia se encuentra en el manual de
instrucciones)
Persona autorizzata a costituire il Fascicolo
Tecnico e stabilito nella Comunità Europea è:
Person authorized to compile the relevant
technical file and established within UE
community is:
Personne autorisée à constituer la dossier
technique et établie dans l'Union européenne
est:
Person berechtigt, die technischen Unterlagen
zusammenzustellen und in der Europäischen
Union ansässig ist:
Persona facultada para elaborar el expediente
técnico y establecida en la Unión Europea es:
COMAU S.p.A - BU ROBOTICS AND
AUTOMATION PRODUCTS - PRODUCT
DEVELOPMENT
COMAU S.p.A - BU ROBOTICS AND
AUTOMATION PRODUCTS - PRODUCT
DEVELOPMENT
COMAU S.p.A - BU ROBOTICS AND
AUTOMATION PRODUCTS - PRODUCT
DEVELOPMENT
COMAU S.p.A - BU ROBOTICS AND
AUTOMATION PRODUCTS - PRODUCT
DEVELOPMENT
COMAU S.p.A - BU ROBOTICS AND
AUTOMATION PRODUCTS - PRODUCT
DEVELOPMENT
nome: Maria Teresa Todarello name: Maria Teresa Todarello nom: Maria Teresa Todarello name: Maria Teresa Todarello nombre: Maria Teresa Todarello
COMAU si impegna a trasmettere, in risposta
ad una richiesta adeguatamente motivata delle
autorità nazionali, informazioni sulla
macchina. L'impegno comprende le modalità
di trasmissione e lascia impregiudicati i diritti
di proprietà intellettuale del fabbricante della
macchina.
COMAUisundertakingtotransmit,inresponse
to a reasoned request by the national
authorities, information on the machine. This
shall include the method of transmission and
shall be without prejudice to the intellectual
property rights of the manufacturer of the
machine.
COMAU s'engage à transmettre, suite à une
demande dûment motivée des autorités
nationales, les informations concernant la
machine. Cet engagement inclut les modalités
de transmission et ne porte pas préjudice aux
droits de propriété intellectuelle du fabricant
de la machine.
COMAU verpflichtet sich, an die
einzelstaatlichen Stellen auf begründetes
Verlangen die Unterlagen zu der Maschinen zu
übermitteln. In dieser Verplichtung ist auch
anzugeben, wie die Unterlagen übermittelt
werden: die gewerblichen Schutzrechte des
Hersteller der Maschine bleiben hiervon
unberührt.
COMAUsecomprometedetransmitir,en
respuesta a un requerimiento debidamente
motivado de las autoridades nacionales, la
información a la màquina. Este compromiso
incluirà las modalidades de transmisión y no
perjudicaràlosderechosdepropriedad
intelectual del fabricante de la máquina.
Luogo (Place) Data (Date) (dd/mm/yyyy)
POSITION
Grugliasco - Torino (Italy) NAME Pietro Ottavis
SIGNATURE
Exoskeleton Passive - Size Large/Size Small
persona autorizzata a redigere la dichiarazione
(person empowered to draw up the declaration)
ROBOTICS AND AUTOMATION PRODUCTS BUSINESS UNIT
CHIEF OPERATING OFFICER
Sede legale: Via Rivalta, 30 - 10095 Grugliasco - Torino (Italy)
Capitale Sociale: € 48;013;959,00 - R;E;!; Torino 474119 - Codice fiscale, Partita IV! e Registro delle Imprese di Torino n; 00952120012 CEE IT 00952120012
MATE
Robotics and Automation Products - Business Unit
Via Rivalta, 30 - 10095 - Grugliasco (Torino) - Italy
Tel. [phone] Fax. [phone]
DECLARATION of CONFORMITY

GENERAL INTRODUCTION
11
Comau Robotics Product Instruction
1.3 Intended use
The device creates an auxiliary variable torque on the shoulder joint to partially
compensate for the gravitational torque created by the weight of the upper limbs.
The purpose of the device is to reduce fatigue and improve the quality of work in
operations that require repetitive movements and with raised arms.
The reaction pairs are discharged on the human-robot interface (a system of padding
and strings) and transferred to the lower back of the user.
Typical applications of MATE are:
– screwing with raised arms;
– sealing with raised arms;
– assembly operations performed with raised arms;
– underbody operations in the automotive sector.
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 can only be used by people in a state of both good physical and psychological
health.
Persons affected by the following diseases, or with a clinical history involving the
following diseases, should consult the competent doctor before using the device:
– shoulder arthritis;
– shoulder dislocation;
– vertebral disorders;
– people who have undergone the following interventions:
• shoulder arthroplasty;
• shoulder arthroscopy;
• any type of back surgery.
MATE is not to be considered a medical device.
MATE was designed as a device for a single user. The device can be shared among
several workers after having cleaned and washed the fabric parts (see par. 6.2.1
Washing instructions for soft components on page 43)
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. During the first day of use it is
recommended to use it for one hour, two hours for the second day, 4 hours for the third.
From the fourth day on, it will be possible to use the device for 8 hours.
It is good practice to undress MATE during work breaks, and limit their use to a
maximum of 8 hours per day.
If the user senses inconvenience during the use of MATE must undress the device and
seek assistance from a supervisor.

Comau Robotics Product Instruction
12
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).
1.3.3 Device storage
MATE should be stored in a dry place, preferably hung on a rack.
Do not handle MATE by grasping it by plastic parts. Lift and manipulate the device by
grasping it by the rear metal structure.
1.4 Unintended uses
All uses that do not fall under the definitions of intended use.
In particular:
– Do not unlock or move the locking mechanism of the Torque Generator Box when
the device is not worn (see par. 2.1.3 Torque Generator Box on page 16).
– Do not use the device when driving a vehicle.
– Do not use the device to lift loads that are higher than normal or exceed the legal
requirements.
– Do not lift the device by grasping it by the plastic parts. Grasp the device by the
rear metal structure.
– The following categories of people should not use the device under any
circumstances:
• pregnant women;
•minors.
Do not immerse the device in water and do not bring it into contact with liquids except
as indicated in Chap. Maintenance and cleaning of the device on page 43.
Keep exposed mechanical parts of MATE free from dust and generally from external
bodies.

SYSTEM OVERVIEW
13
Comau Robotics Product Instruction
2. SYSTEM OVERVIEW
2.1 System description
MATE (Fig. 2.1) is composed of:
–Physical Human-Robot Interface (pHRi): all parts that are in direct contact with
the user's body [1];
–Passive degrees of freedom (pDOFs): parts that facilitate the free movement of
the user, such as sliding and rotation joints [2];
–Torque Generator Box: a mechanism capable of storing and transforming the
potential mechanical energy of a series of pretensioned springs in order to create
a variable assistive torque for the arm. The assistive torques are maximum for
bending angles of about 90° (Fig. 1.1).
Fig. 2.1 - MATE Exoskeleton - front view

Comau Robotics Product Instruction
14
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
Concern) and materials of animal origin.
All fabric parts are removable and machine washable (see par. 6.2.1 Washing
instructions for soft components on page 43)
Fig. 2.2 - Physical Human Robot Interface (pHRi) - front view
1. Removable rear padding
2. Removable padded shoulder straps
3. Removable nylon arm supports with padding
4. Velcro belt
5. Removable panel
6. Adjusting straps
7. Adjustable front buckle
8. Belt extenders - to be installed if necessary, only for size L (see par. 3.1.2.1
Installation of belt extenders on page 22)

SYSTEM OVERVIEW
15
Comau Robotics Product Instruction
The MATE interface is available in two main sizes:
–Small
– Large
The device also incorporates some adjustment elements in order to adapt to the
different body sizes of the users and facilitate ease of use.
The instructions for a correct wearing are indicated at par. 3.2 Wearing procedure on
page 28.
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:
2.1.2 Passive degrees of freedom (pDOFs)
Fig. 2.3 - Passive degrees of freedom (pDOFs)
1. Horizontal axis hinge
2. Back elastics
3. Vertical axis hinge
4. Horizontal axis rear sliding elements
5. Arm supports sliding cuffs
Passive degrees of freedom (Fig. 2.3) allow the correct wearing of MATE and its
adaptation to different body sizes. They also allow the user to move freely once the
device is worn.
Tab. 2.1 - Indicative references for choosing the appropriate size
Size for braces pHRi size
Men 34 - 38 (US) / 44 - 48 (EU) S
40 - 50 (US) / 50 - 60 (EU) L
Women 0 - 12(US) / 36 - 48 (EU) S
14 - 16 (US) / 50 - 52 (EU) L

Comau Robotics Product Instruction
16
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
1. Structure of the mechanism housing
2. Hexagonal seat for adjusting the assistance level
3. External cover
4. Locking mechanism

SYSTEM OVERVIEW
17
Comau Robotics Product Instruction
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. The LOCK position is to be set every time the device is removed, while the
UNLOCK position is to be selected only during the wearing procedure as indicated in
the par. 3.2 Wearing procedure on page 28.
If the locking mechanism is unlocked improperly the Torque Generator Box can be
activated if unintentionally set in rotation. This activation can generate impacts of parts
of the TGB with external objects or people.
The locking mechanism can be activated (switching from LOCK position to UNLOCK
position and vice versa) only when the Torque Generator Box is in the rear rest position
(Fig. 2.6).

Comau Robotics Product Instruction
18
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

SYSTEM OVERVIEW
19
Comau Robotics Product Instruction
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.
The Torque Generator Box can offer seven different and increasing levels of assistance
from 1 to 7.
Fig. 2.7 - Close view of the adjustment seat on the Torque Generator
Box and the assistance level indicator
The procedure to be followed in order to change the level of assistance is described in
par. 3.1.2.6 Adjustment of the assistance level on page 27. The use of an incorrect
assistance level can generate discomfort but no harm to the user.

Comau Robotics Product Instruction
20
SYSTEM OVERVIEW
Tab. 2.2 - Range of assistance levels in relation to height and weight of
the user
WEIGHT (kg)
45 50 55 60 65 70 75 80 85 90 95 100
HEIGHT (cm)
150 1112
155 11222
160 122233
165 1222344
170 2333455
175
334555
180
34455667
185
4555677 7
190
4555677 7
195
555677 7
200
5 6 6 7 7 7
205
6 6 7 7 7
210
6 7 7 7
215
7 7 7 7
220
7 7 7 7