Lorenzo Grazi

Fatigue‐Driven Adaptive Assistance for a Semi‐Active Upper‐Limb Occupational Exoskeleton

Upper‐limb exoskeletons reduce overuse injuries in overhead work, but effectiveness depends on aligning assistance with biomechanics and user’s physical state. Most controllers rely on joint kinematics and task phase estimation, rarely accounting for fatigue from demanding tasks such as handling heavy handheld tools....