Advanced MULOS: Motorized Upper Limb Orthotic System


BioRobotics Institute Role: 

Project Lifetime
Aug 2011 to Aug 2014

Funding Institutions: 

Italian Ministry for Economic Development and Industry under the "2015- Made in Italy" Programme

Contribution to SSSA: 
330K euro

The Advanced MULOS project will develop a robotic device to be worn by people with upper limb disabilities for functional support during their activities of daily living. The challenging goal is to provide a “wear-and-play” system that enables humans to perform natural functions with a minimum efforts. This will be achieved by developing:
1. a multi degree of freedom wearable and modular active orthosis supporting shoulder, elbow, wrist and hand articulations;
2. an advanced human-machine interface based on an artificial flexible skin capable to detect the user intentions,
3. a reliable and safe control architecture that transfers these intentions unobtrusively into orthosis’ movements or actions.
A multi-disciplinary team of engineers, material scientists and clinicians will integrate the Advanced MULOS, using advanced ICT technologies. A team of specialists in control theory will spearhead efforts to provide safe, dependable, robust and efficient control of the Advanced MULOS. In order to optimize the prototype, a special attention will be focused on the establishment of a continuous interaction among engineers, clinicians and expert patients who will provide feedback on the design.

What we do: 

We are the responsible partner for the development of the hand-wrist exoskeleton.


Auxilium Vitae Volterra



A. Chiri, M. Cempini, S. M. M. De Rossi, T. Lenzi, F. Giovacchini, N. Vitiello, M. C. Carrozza, “On the design of ergonomic wearable robotic devices for motion assistance and rehabilitation”, in Proc. of the 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2012.
T. Lenzi, N.Vitiello, • J. McIntyre, •S. Roccella, • M. C. Carrozza, A robotic model to investigate human motor control, Biol Cybern (2011) 105:1–19, DOI 10.1007/s00422-011-0444-8
T.Lenzi, N. Vitiello, S.M. M.De Rossi, A. Persichetti, F. Giovacchini, S. Roccella, F.Vecchi, M.C. Carrozza, Measuring human–robot interaction on wearable robots: A distributed approach, Mechatronics 21 (2011) 1123–1131
A. Chiri, N. Vitiello, F.Giovacchini, S.Roccella, F.Vecchi, M. C. Carrozza, Mechatronic Design and Characterization of the Index Finger Module of a Hand Exoskeleton for Post-Stroke Rehabilitation, IEEE Transactions on Mechatronics, DOI: 10.1109/TMECH.2011.2144614, 2011.

Meet the team