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