Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users

INSPIIRE - A Modular and Passive Exoskeleton to Investigate Human Walking and Balance

Powered exoskeletons for SCI patients are mainly limited by their inability to balance dynamically during walking. To investigate and understand the control strategies of human bipedal locomotion, we developed INSPIIRE, a passive exoskeleton. This device constrains the movements of able-bodied subjects to only hip and knee flexions and extensions, similar to most current active exoskeletons. In this paper, we detail the modular design and the mechanical implementation of the device. In preliminary experiments, we tested whether humans are able to handle dynamic walking without crutches, despite the limitation of lateral foot placement and locked ankles. Five healthy subjects showed the ability to stand and ambulate at an average speed of 1 m/s after 5 minutes of self-paced training. We found that while the hip abduction/adduction is constrained, the foot placement was made possible thanks to the pelvis yaw and residual flexibility of the exoskeleton segments in the lateral plan. This result points out that INSPIIRE is a reliable instrument to learn sagitally-constrained human locomotion, and the potential of investigating more dynamic walking, which is shown as possible in this implementation, even if only flexion/extension of the hip and knee are allowed.

Down to the Bone: A Novel Bio-Inspired Design Concept

The solutions provided through natural evolution of living creatures serve as an ingenious source of inspiration for many technological and applicative fields. Along these lines, bone-inspired concepts lead to fascinating advances in product design, architecture and garments, thanks to the bone’s exceptional combination of strength, toughness and lightness. Structural applications are inspired by the bone’s ability to resist fracture under a large spectrum of forces, while the high surface area and pore connectivity of bone architecture present exciting opportunities from an aesthetic point of view. Behind these inspirations, a disruptive common belief emerges: “down to the bone”, a journey in search of equality, universality and substantiality. Herein, we explore the current state of the art in bone-inspired applications in these fields, considering the two major categories of structural and aesthetic inspirations and discussing further technological developments.