Abstract
In literature, there are multiple lines of work aimed to develop human-centered robotic devices, and among them there is a promising one named robotic exoskeleton. Exoskeletons are biomechatronic devices coupled to the person's body (a “wearable” robot) (Pons, 2008). In general, exoskeletons are composed of a structural mechanism with joints and links, which is worn by the human user. Hence, the whole kinematic structure usually performs several motions similar to those of the human body. Exoskeletons are devices designed to enhance the human strength by the external framework, thus those devices are currently under development for the enhancement of human motor performance in the military (Zoss et al., 2006), in industry (de Looze et al., 2015), and for medical applications (Colombo, 2001; Veneman, 2007; Gijbels et al., 2011).
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