Development of a Soft Robotic Device for Rehabilitation and Assistance of the Upper Limb for People With Neurological Disorders

Inclusion Criteria: Healthy volunteers: * Male and female participants * Age ≥ 18 and ≤ 80 years * Absence of neurological, neuromuscular, or orthopedic conditions that may affect upper-limb use * Willingness to comply with study procedures and to sign the informed consent form * Ability to understand and sign the informed consent form Patients: * Male and female participants * Age ≥ 18 and ≤ 80 years * Clinical diagnosis of acquired brain injury (ABI), in the chronic phase (≥ 6 months after the event) * Persistent upper-limb motor impairment * Medically stable condition and ability to sit upright or stand for the duration of the testing session * Willingness to participate in the study intervention * Ability to understand and sign the informed consent form * Preserved cognitive function, assessed by the Mini-Mental State Examination (MMSE ≥ 24/30) Exclusion Criteria: Healthy volunteers: * Age \< 18 or \> 80 years * Women who are pregnant, breastfeeding, or planning to become pregnant during the study period Patients: * Age \< 18 or \> 80 years * Cognitive impairment interfering with the understanding of the tasks or study protocol, assessed by the Mini-Mental State Examination (MMSE \< 24/30) * Women who are pregnant, breastfeeding, or planning to become pregnant during the study period