Human Exoskeleton Interfaces and Precision Robotic-Human Joint Alignment for Enhanced Upper Limb Rehabilitation

In the design of a robotic rehabilitative device, the human-machine attachment system plays a crucial role: it is essential to guarantee a correct physiological-robotic joint alignment to avoid exerting abnormal mechanical stress on the limb and to properly mobilize the injured body segment. The purpose of this work is to introduce an innovative patient-exoskeleton interface and positioning system designed to accommodate a wide range of body percentiles. This system aims at ensuring proper patient positioning and at expedite the dressing procedure, providing a user-centric and efficient exoskeleton-wearing experience for both patients and therapists. The new design is based on insights gained from a clinical study involving orthopaedic patients and the Float exoskeleton.