XoSoft - Iterative Design of a Modular Soft Lower Limb Exoskeleton

  • Jesús OrtizEmail author
  • Christian Di Natali
  • Darwin G. Caldwell
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


XoSoft is a modular soft lower-limb exoskeleton to assist people with mobility impairments. Being a modular system, it comprises of ankle, knee and hip elements, which can be used in different configurations. XoSoft follows a user centered design strategy achieved by involving primary, secondary and tertiary end users as participatory stakeholders in the design and development process. This paper presents the evolution of the different prototypes developed during the project, as well as the testing stages. From the Alpha prototype, built from available technologies, to the Gamma prototype, which includes advanced textiles technologies, smart materials for sensing and actuation, biomimetic control and connected health monitoring and feedback system.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Jesús Ortiz
    • 1
    Email author
  • Christian Di Natali
    • 1
  • Darwin G. Caldwell
    • 1
  1. 1.Department of Advanced RoboticsIstituto Italiano di TecnologiaGenovaItaly

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