The research activity in the TESBE experiment is organized in three complementary tasks, the first (task 1) devoted to the development of a new fast, accurate and robust force control to be used in a body extender for the tracking of the wearer’s limb motions and for force amplification,  the second (task 2) to the development of a newly conceived  collaborative postural control to prevent the overturning of the system under the action of gravity and iexternal interaction forces, and the third (task 3) to the development of an advanced haptically enhanced gripper able to stably grasp diverse typologies of objects, having different shapes, dimensions and consistencies.

In the first three months of the experiments all these tasks have been initiated according the TESBE work plan.

In particular, in sub-task 1.1 existing force control approaches based on both rigid and elastic mechanical transmission models have been identified, in sub-task 2.1 a preliminary control strategy aiming at preventing the overturning of the system has been formulated in the n-dimensional space of the BE’s DoFs, in sub-task 2.3 preliminary experimental investigation on the efficacy of artificially generated forces at the level the trunk have been carried out and in sub-task 3.1 a preliminary set of specifications for the gripper have been defined.