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This paper presents the preliminary design of an upper limb IAD, a wearable exoskeleton oriented to help the user perform a routine activity at the workplace. Firstly, the work space of an upper limb is analyzed, focusing on the selection and location of degrees of freedom required by an exo device. The main challenge is to design an exoskeleton able to reproduce the arm's natural workspace without constraining other non-actuated arm movements, and thus provide operator comfort. Non-conventional biomimetic actuators are also taken into account. Based on the previous analysis, the paper goes on to describe the main features of the design and finally, some preliminary conclusions are outlined.
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