Tesi etd-09302024-130501
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Tipo di tesi
Dottorato
Autore
RINALDI, GIANLUCA
URN
etd-09302024-130501
Titolo
From Concept to Validation: An Active Exoskeleton for a Healthier Workplace
Settore scientifico disciplinare
ING-IND/13
Corso di studi
Istituto di Tecnologie della Comunicazione, dell'Informazione e della Percezione - PHD IN EMERGING DIGITAL TECHNOLOGIES
Relatori
Tutor CHIARADIA, DOMENICO
relatore Dott. FRISOLI, ANTONIO
relatore Dott. FRISOLI, ANTONIO
Parole chiave
- occupational exoskeletons
- human-robot interface
- work-related musculoskeletal disorders
- wearable active devices
- assistive devices
- collaborative robots
- series-elastic actuators
- work-related musculoskeletal disorders
- shoulder
- muscular effort
- physiological load
- human augmentation
Data inizio appello
30/09/2025;
Disponibilità
parziale
Riassunto analitico
Nowadays, work-related musculoskeletal disorders (WMSDs) are still the first cause of occupational diseases in industrialized countries. This thesis aims to present a framework where robots do not substitute the worker but provide assistance in order to assure that ergonomics are always mantained during the daily job. Particularly, a combination of both portable exoskeletons and cobots benefits in reducing the biomechanical load of the worker. This work starts by presenting a series-elastic actuator that will be subsequently employed in a portable shoulder exoskeleton. The latter is presented in its design and tested to assess its capabilities in assisting flexion/extension of human workers during weight lifting and carrying-load tasks. Finally, a framework for a synergy between a human wearing the previously assessed exoskeleton and a cobot is presented, and its benefits in terms of reduction of occupational effort are assessed.
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