A Novel Generation of Ergonomic Upper-Limb Wearable Robots: Design Challenges and Solutions

Giorgia Ercolini, Emilio Trigili, Andrea Baldoni, Simona Crea, Nicola Vitiello

Research output: Contribution to journalArticlepeer-review

Abstract

In this work we present NEUROExos, a novel generation of upper-limb exoskeletons developed in recent years at The BioRobotics Institute of Scuola Superiore Sant'Anna (Italy). Specifically, we present our attempts to progressively (i) improve the ergonomics and safety, (ii) reduce the encumbrance and weight, and (iii) develop more intuitive human-robot cognitive interfaces. Our latest prototype, described here for the first time, extends the field of application to assistance in activities of daily living, thanks to its compact and portable design. The experimental studies carried out on these devices are summarized, and a perspective on future developments is presented.
Original languageEnglish
Pages (from-to)2056-2072
Number of pages17
JournalRobotica
Volume37
Issue number12, SI
DOIs
Publication statusPublished - Dec 1 2019

Keywords

  • Exoskeletons
  • Control of robotic systems
  • Mechatronic systems
  • Neurorehabilitation
  • Series elastic actuators

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