Design and Development of Novel Wearable Robots

In this thesis work is reported the functional design of novel wearable robots that exceed the scientific knowledge by expanding the portfolio of machines/robots for rehabilitation, walking assistance and many other features for human assistance. In particular, we will go into the detail of a hand exoskeleton fully powered by miniaturized SEA actuators with also a new kinematic architecture for the thumb joint (patent pending). In this dissertation work is reported also a new exoskeleton for rehabilitation of the shoulder and elbow in post-stroke patient. This is portable and fixable on the wheelchair and it is for double side use (patent pending). In this thesis work, we will go into the details also through the design of a new wearable full body robot for the assistance of operators during their lifting task at work. (several patent pending). Finally, we will also talk about a novel concept of an underactuated transfemoral prosthesis (several patent pending).