• assistive robotics
• control input
• extra-thesis
• force feedback
• haptic feedback
• robotic hand
• supernumerary robotic limb

Over the past decade, Supernumerary Robotic Limbs (SRLs) have shown significant development among the robotic technologies used in the medical field for assistive and rehabilitative purposes.
The study presented in this thesis originates from the reconfiguration of an SRL equipped with a robotic hand, which had previously been extensively tested on post-stroke patients. The aim of the present work is to extend its application to patients with Parkinson’s disease and amyotrophic lateral sclerosis (ALS).
Three different input sources were proposed for controlling the robotic limb: a force sensor, a flex sensor and EMG electrodes, each implemented in both on-off and proportional control modes.
To enhance embodiment, a haptic feedback device was integrated into the SRL to deliver a mechano-tactile stimulus on the forearm, modulated according to the grasping force exerted by the robotic hand.
A physical characterization was conducted to evaluate the force profile delivered by the feedback interface, while a subsequent psychophysical characterization assessed the users’ ability to accurately perceive the haptic stimuli.
Finally, the device was tested on able-bodied participants to evaluate its overall effectiveness and gather feedback on their user experience.