Can We Redesign a Shoulder Exosuit to Enhance Comfort and Usability Without Losing Assistance?

Roberto Ferroni; Daniele Filippo Mauceri; Jacopo Carpaneto; Alessandra Pedrocchi; Tommaso Proietti

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arXiv · 2602.04625

Can We Redesign a Shoulder Exosuit to Enhance Comfort and Usability Without Losing Assistance?

Roberto Ferroni·Daniele Filippo Mauceri·Jacopo Carpaneto·Alessandra Pedrocchi·Tommaso Proietti

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Abstract

Reduced shoulder mobility limits upper-limb function and the performance of activities of daily living across a wide range of conditions. Wearable exosuits have shown promise in assisting arm elevation, reducing muscle effort, and supporting functional movements; however, comfort is rarely prioritized as an explicit design objective, despite it strongly affects real-life, long-term usage. This study presents a redesigned soft shoulder exosuit (Soft Shoulder v2) developed to address comfort-related limitations identified in our previous version, while preserving assistive performance. In parallel, assistance was also improved, shifting from the coronal plane to the sagittal plane to better support functionally relevant hand positioning. A controlled comparison between the previous (v1) and redesigned (v2) modules was conducted in eight healthy participants, who performed static holding, dynamic lifting, and a functional pick and place task. Muscle activity, kinematics, and user-reported outcomes were assessed. Both versions increased endurance time, reduced deltoid activation, and preserved transparency during unpowered shoulder elevation. However, the difference between them emerged most clearly during functional tasks and comfort evaluation. The redesigned module facilitated forward arm positioning and increased transverse plane mobility by up to 30 deg, without increasing muscular demand. User-reported outcomes further indicated a substantial improvement in wearability, with markedly lower perceived pressure and higher ratings in effectiveness, ease of use, and comfort compared to the previous design. Taken together, these findings show that targeted, user-centered design refinements can improve comfort and functional interaction without compromising assistive performance, advancing the development of soft exosuits suitable for prolonged and daily use.

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Roberto Ferroni, Daniele Filippo Mauceri, Jacopo Carpaneto, Alessandra Pedrocchi, Tommaso Proietti. 2026-02-04. Can We Redesign a Shoulder Exosuit to Enhance Comfort and Usability Without Losing Assistance?. https://arxiv.org/abs/2602.04625

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