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

Research output: Chapter in Book/Report/Conference proceedingChapter


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 publicationBiosystems and Biorobotics
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages5
Publication statusPublished - 2022

Publication series

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

ASJC Scopus subject areas

  • Biomedical Engineering
  • Mechanical Engineering
  • Artificial Intelligence


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