Wearable Robotics Laboratory

In the coming years, industrialized countries will face the challenge of an aging population and, consequently, the need to improve the quality of life for the elderly. It is estimated that in the next forty years, about 35% of the European population will be over 60 years old, highlighting the urgency of finding solutions that enable older adults to remain active, creative, productive, and independent.

Diseases affecting gait and upper limb functionality are among the most common and debilitating conditions in the elderly population, leading to a significant reduction in quality of life and an increase in mortality.

In this context, the Wearable Robotics Laboratory aims to design, develop, and test innovative wearable robots - exoskeletons and active prostheses - to assist, rehabilitate, or enhance specific movements.

Our robots

SHAJA, a unilateral active hip orthosis

SHAJA is an active pelvic orthosis designed to assist and rehabilitate locomotor functions in individuals with mild to moderate lower limb impairments. It is a fully portable, unilateral active hip exoskeleton engineered to provide personalized unilateral assistance for hip flexion/extension movements in individuals with asymmetric locomotion and/or mild to moderate unilateral flexion/extension deficits. The primary goal of SHAJA is to assist, rehabilitate, and support the biomechanical functionality of the hip joint during various locomotor tasks, including walking on flat and inclined surfaces, ascending/descending stairs, and transitioning between sitting and standing positions. SHAJA is a compact, fully portable, and autonomous device, as its control electronics and battery are integrated into a small backpack. The device weighs less than 3 kg, with most of its weight strategically distributed around the center of mass to minimize inertial effects.

AKO, an active knee orthosis

AKO is a wearable motorized orthosis designed to assist knee flexion/extension during locomotion-related activities. AKO is a standalone device that combines a mechatronic actuator with a backpack housing the electronics and battery. The mechatronic actuator is based on a Series-Elastic Actuator (SEA) architecture with a custom torsional spring and is positioned at the knee level using an integrated commercial brace. The backpack containing the electronics is placed on the lower back, with its weight offloaded onto the posterior iliac crests via a custom plate. It is stabilized on the pelvis through a pelvic belt and Velcro straps. The actuator is connected to the backpack via a custom cable, available in different lengths to accommodate various user anthropometries.

Active prostheses for gait assistance

As part of the MOTU++ project, promoted and in collaboration with the Inail Centro Protesi, two types of active knee and ankle-foot prostheses have been developed. Both prostheses utilize a Series-Elastic Actuator (SEA) architecture to ensure high performance and effective support during walking. The knee prosthesis integrates a torsional spring in series with the motor to provide optimal assistive torque, while the ankle-foot prosthesis combines a unidirectional torsional spring with a torsional SEA to store energy and support foot propulsion. Both solutions are compact, lightweight, and equipped with sensors that, through intelligent algorithms, enable adaptive assistance across different gait phases and daily activities.

Active exoskeleton for functional hand recovery

As part of the HABILIS++ project promoted and in collaboration with the Inail Centro di Riabilitazione Motoria in Volterra, the active hand exoskeleton is designed for the rehabilitation of hands that have suffered traumatic injuries, with the ultimate goal of restoring functional use of the injured hand. The exoskeleton is engineered to assist the metacarpophalangeal (MCP) joints of the thumb and index finger in flexion and extension movements while leaving the thumb either free or locked in adduction-abduction and circumduction movements. The actuation units are based on a Series-Elastic Actuator (SEA) architecture. The transmission chains incorporate self-aligning mechanisms to prevent unwanted parasitic forces on the user's musculoskeletal system. The device is lightweight and can generate an assistive torque at the MCP joint sufficient to mobilize it without causing harm. Additionally, the lockable thumb chain allows for different configurations while assisting flexion/extension movements.

NEUROExos, an exoskeleton for shoulder and elbow rehabilitation

NEUROExos is a powered exoskeleton designed for upper limb rehabilitation in stroke patients (H2020 ReHyb project). It meets several high-level requirements, including wearability, range of motion, passive degrees of freedom to facilitate movement, and controllability in both position and torque. Additionally, the robot incorporates multiple functionalities to enhance rehabilitation outcomes, such as remote rehabilitation capabilities, a haptic feedback system, and a graphical user interface. Each active degree of freedom features a torsional spring to implement a Series-Elastic Actuator. Three active degrees of freedom with mutually perpendicular axes intersect at the shoulder center, allowing assistance in shoulder flexion/extension, adduction/abduction, and internal/external rotation. The fourth active degree of freedom is located at the elbow, enabling flexion and extension movements.

GraCE, a portable exoskeleton for shoulder and elbow assistance

GraCE is an exoskeleton developed as a result of the BioARM and BioARMnext research projects, promoted and in collaboration with the Inail Centro Protesi. The exoskeleton is fully portable and designed to assist shoulder and elbow movements of its user. GraCE is intended to support individuals with upper limb motor impairments, such as those who have suffered a stroke or a brachial plexus injury. At the shoulder level, the exoskeleton provides partial gravity compensation for the arm, stabilizing movement and allowing the user to maximize their residual capabilities for performing functional tasks. At the elbow level, the exoskeleton integrates an actuator that actively assists joint movement, implementing adaptive control strategies tailored to the user’s mobility and needs.

PETE, an elbow exoskeleton for haptic feedback and human interaction

PETE is an exoskeleton developed within the H2020 CONBOTS project. It is designed to be lightweight and to provide elbow assistance in the form of haptic feedback through an actuation system based on Series-Elastic Actuator (SEA) technology. Two PETE exoskeletons can be interconnected, enabling the study of physical interactions between individuals mediated by an exoskeleton. This setup allows for the implementation of control strategies based on the teacher-learner paradigm.