ETD

• active wrist
• compensatory movements
• multi-input control
• supernumerary robotic limb
• upper-limb impairment

In recent years, interest in wearable robotic devices for upper limb assistance and rehabilitation has grown significantly, especially to address the needs of individuals with neurodegenerative diseases. These conditions lead to a gradual loss of motor function, making it difficult for patients to perform basic activities of daily living (ADLs). A new class of robotic systems—Supernumerary Robotic Limbs (SRLs)—has emerged as a promising solution to support residual motor abilities.
This thesis presents the development of an SRL device designed to assist patients with varying levels of impairment. Two control strategies were developed based on three different input sources: electromyographic (EMG) signals, force sensors, and flex sensors. This multisensory approach allows the system to be customized according to the user's capabilities, increasing its accessibility.
Subsequently, a 1-degree-of-freedom (1-DOF) active wrist was integrated into the system to improve its adaptability to different tasks. The wrist is controlled by an algorithm that exploits compensatory movements as an error signal, closing the control loop and enhancing system responsiveness and intuitiveness.
Finally, the proposed system was tested with able-bodied participants to validate the control strategies and assess the feasibility of the integrated approach.