This work was funded by the Istituto Nazionale per l’Assicurazione contro gli Infortuni sul Lavoro (INAIL) under grant agreements "PR23-RR-P2 – ClinicEXO. Robotic-assisted rehabilitation has emerged as a promising approach in the field of physiotherapy. In particular, the use of exoskeletons is spreading, as they offer full support to the patient's body, relieving the physical burden on the physiotherapist, while increasing the intensity of the exercises. Additionally, it collects useful data on the patient's condition and his improvements. Currently, in the literature, is difficult to find trunk rehabilitation exoskeletons, although trunk rehabilitation is crucial in posture maintenance, balance, and mobility, which are key elements of many Activities of Day Living (ADLs).