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SImulated Dynamics Exoskeleton (SIDE): design and testing of the effects of a wearable upper limb exoskeleton on kinematics in industrial-like tasks
ID：20 View Protection：ATTENDEE Updated Time：2026-09-11 23:07:17 Hits：11 Oral Presentation

Start Time：Pending（Asia/Shanghai）

Duration：Pending

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Abstract
Wearable exoskeletons, virtual reality (VR), and haptic devices are increasingly used for workers’ training, yet the combined application of these three elements is still largely unexplored. Additionally, the influence of wearable exoskeletons on natural upper-limb kinematics, especially in dynamic and complex tasks, remains poorly understood. From this perspective, the paper aims at presenting the design of a wearable upper limb exoskeleton (SIDE - SImulated Dynamics Exoskeleton) and investigating its effects on upper-limb joint kinematics during industrial-like tasks performed in a VR environment. Ten healthy participants performed four tasks: (i) sliding a door horizontally, (ii) opening and closing a rolling shutter, (iii) pulling a rope up and down, and (iv) rotating a valve. Kinematic data were collected using inertial motion capture, and the range of motion (ROM) of angle curves related to shoulder and elbow, as well as the range of excursion (ROE) of the hand were analyzed with and without the exoskeleton; as well as the intra-subject variability related to the movements. Results indicate a general qualitative reduction in ROM when using the exoskeleton. However, statistically significant differences emerged specifically in Task 2 (rolling shutter) and Task 3 (rope pulling). Despite these joint-level changes, ROE remained largely unaffected, suggesting compensatory movement strategies. Considering the variability, the presence of the exoskeleton does not generally influence the intra-subject variability in the movement execution. These findings highlight that while SIDE does not uniformly restrict movement, it significantly influences specific movement patterns involving coordinated multi-joint motion. This emphasizes the importance of optimizing exoskeleton design to balance support and mobility, particularly in dynamic tasks requiring high adaptability.
Keywords
Wearable Exoskeletons,Haptic Interfaces / Devices,virtual reality,Upper-limb exoskeleton kinematics
Speaker
Ilaria Mileti
Associate Professor Niccolò Cusano University

Submission Author
Luca Mattioli Sapienza Università di Roma
Juri Taborri Università degli Studi della Tuscia Viterbo
Giovanni Mariani Università degli Studi della Tuscia Viterbo
Giuseppe Di Gironimo Università degli Studi di Napoli Federico II
Antonio Lanzotti Università degli Studi di Napoli Federico II
Alessandra Ferraro Italian Workers‘ Compensation Authority
Marco Pirozzi Italian Workers‘ Compensation Authority
Luciano Di Donato Italian Workers‘ Compensation Authority
Ilaria Mileti Niccolò Cusano University
Fabrizio Patanè Niccolò Cusano University
Stefano Rossi Università degli Studi della Tuscia Viterbo
Eduardo Palermo Sapienza Università di Roma
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Important Date

  • Conference Date

    Nov 06

    2026

    to

    Nov 08

    2026

  • Oct 15 2026

    Draft paper submission deadline

Sponsored By
IEEE Instrumentation and Measurement Society
Organized By
Sichuan University
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