The work explores the possibility to increase the automation along a production line by introducing robots without reducing the safety of the operator. The introduction of a robot to a workstation often demands a redesign of the workstation and traditionally the introduction of physical safety solutions that can limit the access to the work area and object on the production line. This work aims to find a general solution that can be used not only in the construction industry, but also in other types of industries to allow for an increased Human and Robot Interaction (HRI) without physical safety solution. A concept solution of a dynamic and flexible robot cell is presented to allow for HRI based on safety zones in a shared work environment. The concepts are based on one robot and the usage of a 3D camera system allowing for the design of virtual safety zones, used to control the HRI. When an operator approaches the robots work area and triggers a safety zone the robot stops its work and moves away from the operator. Based on the safety requirements and triggered zones the robot will continue to work in a new area or wait until the operator leaves the work area and then continue with the interrupted work task. This will allow the operator and the robot to work together, where the operator location controls the robots workspace. Testing and validation of the presented concept showed that the wanted functionality could be obtained. It also showed limitations to the equipment and the system used during tests and raised additional aspects of the safety for HRI. Of the detected limitations the most crucial when looking at up-time for the production line, is the camera system need of a relatively dust free environment, good and constant lighting. For the safety of the system the limitation lies in the size and placing of the safety zones in combination with the disturbance from  surrounding equipment. The presented concept has proven to work, and can be applied not only for the construction industry but for all industries with manufacturing alongside production lines with large components.

The construction industry, one of the largest employers of labor in the United States, has long suffered from health and safety issues relating to work-related musculoskeletal disorders. Back-related injuries are one of the most prevalent of all musculoskeletal disorders in the construction industry. Due to advancements in the field of wearable technologies, wearable robots such as passive back-support exoskeletons have emerged as a possible solution. Exoskeletons have the potential to augment human capacity, support non-neutral work positions, and reduce muscle fatigue and physical exertion. Current research efforts to evaluate the potential of exoskeletons in other industry sectors have been focused on outcome measures such as muscle activity, productivity, perceived discomfort and exertion, usability, and stakeholders' perspectives. However, there is scarce evidence regarding the efficacy of using exoskeletons for construction work. Furthermore, the risks and sociotechnical challenges of employing exoskeletons on construction sites are not well documented. Thus, through the lens of human-centric and socio-technical considerations, this study explores the prospects of adopting back-support exoskeletons in the construction industry. Firstly, a laboratory experiment was conducted to quantify the impact of using a passive exoskeleton for construction work in terms of muscle activity, perceived discomfort, and productivity. In order to investigate the acceptance of exoskeletons among construction workers and the challenges of adopting exoskeletons on construction sites, field explorations evaluating usability, perceived discomfort and exertion, social influence, and workers user perceptions were executed. Using sequential mixed methods approach, the stakeholders and factors (i.e., facilitators and barriers) critical for the adoption of exoskeletons on construction sites were investigated. Thereafter, by employing the factors and leveraging the constructs of the normalization process theory, an implementation plan to facilitate the adoption of passive exoskeletons was developed. The study contributes to the scarce body of knowledge regarding the extent to which exoskeletons can reduce ergonomic exposures associated with construction work. This study provides evidence of the perceptions of the contextual use of wearable robots, and workers' interaction with wearable robots on construction sites. The study contributes to the normalization process theory by showing its efficacy for the development and evaluation of implementation frameworks for construction industry. Furthermore, this study advances the socio-technical systems theory by incorporating all its subsystems (i.e., human, technology, organization and social) for investigating the potential of using a passive back support exoskeleton in the construction industry. / Doctor of Philosophy / Construction workers are often subjected to harsh working conditions and physically demanding work postures, which are ergonomics risks causing back-related musculoskeletal injuries. These injuries have the potential to cause permanent disabilities, lead to early retirement of experienced labor, and is one of the causes of the shortage of skilled workforce in construction. Wearable robots, such as passive back-support exoskeletons, are increasingly been looked upon as a potential solution to mitigate the problem. Exoskeletons are wearable technologies that can support and reinforce workers' body parts. Studies have shown that the use of exoskeletons could lead to reduced muscle fatigue thereby decreasing injuries in the long run. However, most of the research on the use of exoskeletons is focused on other industrial sectors. Scarce evidence regarding the use of exoskeletons in construction is documented in the literature. Furthermore, the use of exoskeletons on construction sites could have certain unintended consequences. Thus, the objective of this research was to understand the risks and challenges of using passive exoskeletons in the construction industry. A laboratory experiment was conducted to measure the impact of using exoskeletons on physical demand and productivity while performing construction tasks. An increase in productivity and a reduction in discomfort in the lower back were observed while using an exoskeleton. Thereafter, field studies were conducted where construction workers performed their usual tasks using an exoskeleton to understand their user experience and acceptance. To help construction companies in the adoption of exoskeletons, facilitators and barriers to the adoption of exoskeletons were identified. Thereafter a plan was developed to facilitate the implementation of passive exoskeletons in construction organizations. This plan can guide construction companies in the adoption of passive exoskeletons. The outcomes of this study will help other researchers to conduct similar studies with other wearable technologies.