Benefits and Potential of a Neuromuscular Controller for Exoskeleton-Assisted Walking

N.L. Tagliamonte*, A.R. Wu, I. Pisotta, F. Tamburella, M. Masciullo, M. Arquilla, E.H.F. van Asseldonk, H. van der Kooij, F. Dzeladini, A.J. IJspeert, M. Molinari

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

2 Citations (Scopus)


Controlling wearable exoskeletons to interact with people suffering from locomotion disabilities due to lesions of the central nervous system is a complex challenge since it entails fulfillment of many concurrent objectives: versatility in different applications (assistance and rehabilitation), user-specific adaptation to residual motor functions, compliance with different gait features (e.g. personal walking patterns and especially speed changes), smoothness of human-robot interaction, natural and intuitive exoskeleton control, acceptability and usability of the worn system. A novel bio-inspired modular controller for lower limb exoskeletons was developed by the Authors, which delivers assistive joint torques by using a reflex-based neuromuscular model. This paper presents an overview of previous and ongoing findings in testing this controller with the aim to highlight its benefits and potential in complying with user needs and with different applications.

Original languageEnglish
Title of host publicationWearable Robotics: Challenges and Trends
Subtitle of host publicationProceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020
EditorsJuan C. Moreno, Jawad Masood, Urs Schneider, Christophe Maufroy, Jose L. Pons
Number of pages5
ISBN (Print)978-3-030-69547-7
Publication statusPublished - 2022
Event5th International Symposium on Wearable Robotics, WeRob 2020 - Virtual conference
Duration: 13 Oct 202016 Oct 2020
Conference number: 5

Publication series

NameBiosystems and Biorobotics
ISSN (Print)2195-3562
ISSN (Electronic)2195-3570


Conference5th International Symposium on Wearable Robotics, WeRob 2020
Abbreviated titleWeRob 2020
Internet address


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