Work-related musculoskeletal disorders (WMSDs) are one of the most common causes of occupational disease in Europe. They typically cause muscle fatigue and injuries, leading to a relatively high number of lost workdays with a negative impact on enterprises’ productivity and the increased burden on national healthcare systems, as reported by the EU-OSHA in 2007. In recent years, in order to reduce workers’ fatigue and the insurgence of WMSDs, a growing interest in wearable robotics (WR) technologies has led to the application of upper-limb exoskeletons for industrial applications. The state of the art provides many examples of passive devices where the assistive action (e.g.