ABSTRACT: We study human balance control during standing and walking by analysing responses evoked by mechanical perturbations. We developed simple template models and more realistic neuro-mechanical models to interpreted and predict how humans respond to various mechanical perturbations and how they maintain balance. We translated these predictive models into human inspired controllers of wearable robots. We developed a modular exoskeleton for the lower extremities, which consists of 8 lightweight (1.5 kg) powerful universal joints with series elastic actuators, which allow for high fidelity and high bandwidth torque control. The exoskeleton can be used in different configurations, like ankle only, ankle and knee, and ankle-knee-hip. All configurations can be used for one leg or both legs. We demonstrated that with this exoskeleton and using human inspired (neuromuscular) controllers, we can enhance standing balance and the walking speed of subjects with an incomplete spinal cord injury wearing our exoskeleton. The exoskeleton was also used by a test pilot with a complete spinal cord injury to successfully practise the Cybathlon 2016 obstacles. The accurate low level torque control and the larger number of (powered) joints compared to other (commercial available) exoskeletons are advantageous, in particular when standing and walking on non-flat terrain.

ABSTRACT: Among the most promising field of applications of wearable robotics there are the rehabilitation and the support in activities of daily living (ADL) of impaired people. In this talk, I will introduce the idea of human augmentation towards the Robotic Sixth Finger, for grasping compensation in patients with reduced hand mobility, such as post-stroke patients. The idea is to let the patients be able to grasp an object by taking advantage of the wearable device worn on the paretic limb by means of an elastic band. The Robotic Sixth Finger and the paretic hand work jointly to hold an object. Adding a robotic opposing finger is a promising approach that can significantly improve the grasping functional compensation in different typologies of patients during everyday life activities.