The first prototype of the system (Alpha) was developed using existing technologies and was divided in separate modules for sensing and actuation. In particular, some of the modules were still using hard technologies for actuation and soft technologies for sensing.
The Beta 1 prototype was the first to include soft technologies to integrate sensing and actuation on the garment. The garment of the Beta 1 prototype was fitted to the subject and enabled actuation of the hip and knee flexion (unilateral) with a quasi-passive actuation system, using an electromagnetic clutch connected to an elastic band through a bowden cable. Different technologies were evaluated to measure the user’s motion (insole sensors, IMUs and capacitive sensors in knee and ankle).
The Beta 2 prototype represented a big step towards a complete soft system. The actuation system was replaced by a novel type of quasi passive actuation based on elastic bands and custom made pneumatic soft clutches. The new design of the garment enabled a high degree of configuration of the system, with the possibility to assist the flexion/extension of the hip, flexion/extension of the knee and dorsi/plantar flexion of the ankle, in any configuration (including unilateral and bilateral), with a maximum of 8 simultaneous actuators. The sensory system was an evolution of the one present in the Beta 1 prototype, with important developments in the control system.
Finally, the Gamma prototype further improved the XoSoft design, with important changes in the garment and optimisation of the pneumatic system. One of the main changes in the Gamma garment design was the ability to adjust it to a wider variety of persons. The Gamma prototype was classified as a medical device Class I, passing all the conformity tests required by the pertinent regulations.
Different versions of the connected monitoring system, and feedback to the different types of users, were integrated with the different prototypes. The full-connected system is easily adaptable to different situations, is able to monitor, store, analyse and evaluate XoSoft data.
In the later stages of the project, different public demonstrations of the system were performed: International Festival of Robotics 2017 (Pisa, IT), GNB2018 (Milan, IT), IROS2018 (Madrid, ES), WeRob2018 (Pisa, It), Dutch Design Week 2018 (Eindhoven, NL). Furthermore, a final project event entitled “Exoskeletons and soft wearable robotics day” was organised in Amsterdam, with the participation of key researchers, institutions, projects and industry in Europe in the area of Exoskeletons.
In total, 25 scientific contributions have been published during the project, with a further 10 under review or in preparation. Most of the publications involve collaboration between partners, in particular between engineering/technical and clinical partners.
