Innovative exoskeleton designs for rehabilitation, assistance and sport applications

This thesis explores exoskeletons designed for rehabilitation, assistance, and sport performance, emphasizing their potential to improve quality of life in various environments. The first device presented is a rigid hand exoskeleton integrated into a rehabilitation platform that incorporates serious games. Designed for orthopedic and stroke patients, this system provides precise assistance during gripping and grasping actions, improving wearability and robustness. Clinical trials with healthy participants have characterized it, supporting its use throughout different stages of rehabilitation. In addition, soft hand exoskeletons have been developed for individuals with spinal cord injuries (SCI), utilizing an innovative tendon routing method to enhance stability and comfort. Their modular design simplifies adjustments for different hand sizes and facilitates easier donning for users with motor impairments. Evaluations of these devices have highlighted their effectiveness in assisting grasping movements, with potential areas for refinement. The thesis also discusses a hip exosuit aimed at assisting hip extension and reducing the metabolic cost of running in healthy individuals. This portable, active exosuit improves efficiency and reducing energy consumption. Experiments have shown significant reductions in metabolic cost, demonstrating the potential of exoskeletons to enhance athletic performance. These studies collectively illustrate how exoskeletons can bring patients through all stages of rehabilitation, from intensive therapy to home-based recovery, and even serve healthy individuals by boosting sports performance. Advanced kinematic designs, innovative tendon layouts, and comprehensive testing underscore the transformative potential of exoskeletons in rehabilitation and beyond.