A Novel Generation of Ergonomic Upper-Limb Wearable Robots: Design Challenges and Solutions. Issue 12 (26th December 2018)

• Record Type: Journal Article
• Authors: Ercolini, Giorgia; Trigili, Emilio; Baldoni, Andrea; Crea, Simona; Vitiello, Nicola
• Is Part Of: Robotica. Volume 37:Issue 12(2019)
• Page Start: 2056
• Page End: 2072
• Publication Date: 2018-12-26
• Subjects: Exoskeletons, -- Control of robotic systems, -- Mechatronic systems, -- Neurorehabilitation, -- Series elastic actuators; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574718001340
• Languages: English
• ISSNs: 0263-5747

Abstract

Summary: 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.