Kinematic Synergy extraction for the design of an upper limb exoskeleton

This thesis aims to establish a procedure for the mechanical design of an upper limb exoskeleton through postural synergy extraction. For this purpose, a biomechanical analysis of the upper limb has been conducted through six selected tasks. Firstly, movements have been captured with Vicon motion capture system and then Inverse kinematic has been executed with OpenSim in order to obtain joint displacements. The principal component analysis (PCA) is chosen to reduce the dimensionality, indicating the relationship between the angular displacements of the target joints.