Laying out objects via manual handling requires upper limb work with repeated carrying and grasping of objects. It is important to clarify the factors influencing work load because repetitive upper limb work causes damage to hands, arms and shoulders. There are many studies related to repetitive upper limb work, but most of them relate to production line work in industry. In addition, there are few studies on the effect of the object shape. The shape of an object may affect how it is grasped. In this study, we therefore intended to clarify the effect of the object shape and work height on upper limb load. In this experiment, ten healthy male subjects were asked to carry objects placed on a shelf using combinations of three object shape conditions and two work height conditions. We used a can, book and fruit to simulate the object shape condition, and eye height and waist height for the work height condition. The widths of the can, book and fruit were 64, 32 and 100mm, respectively. The grasp force and muscle activity were used as evaluation indices. We also investigated subjective indices for burden, difficulty of the task and difficulty of grasping the object. Electromyography was performed at the flexor digitorum superficialis muscle, the extensor digitorum muscle, the biceps brachii muscle, the middle part of the deltoideus muscle, and the upper part of the trapezius muscle. The results showed that grasp force and its distribution were different depending on object shape, and muscular load on the shoulder joint varied depending on work height.
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