Dottorato in INGEGNERIA INDUSTRIALE E GESTIONALE

Titolo della tesi: Design and validation of a upper limb exoskeleton for haptic feedback

The objective of this thesis is the design and development of SIDE, a wearable, bi-articular upper limb exoskeleton for haptic feedback, designed for training workers for confined environments. The training phases will take place in controlled environments using virtual (VR) or augmented reality (AV). The idea is to combine VR systems, which are highly validated and already on the market, with a system capable of simulating the interaction forces. Alongside the classical auditory and visual feedback, the perception of the forces of interaction with the surrounding environment will also be stimulated, resulting in a more complete, immersive, and safe operator training device. The first part of this thesis is dedicated to the description of the upper limb, both anatomically and kinematically. In the second part, exoskeletons, virtual reality, and haptic systems are introduced and classified, focusing on their crucial aspects related to the present work. In the third part, the SIDE prototype is presented and the technical specifications and the model used to study the upper limb are analyzed in detail. The last part is spent presenting the protocols used for device validation. The methodologies used will be explained in detail, and the results obtained will be reviewed and commented. The patent application for the SIDE exoskeleton has been submitted in November 2023 (Patent application No. I0203595-MP).