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Spinal Exoskeletal Robot for Low Back Pain Prevention and Vocational Reintegration

Total Cost €


EC-Contrib. €






 SPEXOR project word cloud

Explore the words cloud of the SPEXOR project. It provides you a very rough idea of what is the project "SPEXOR" about.

low    rehabilitation    ideas    fill    bodied    neglect    prevent    stages    builds    gap    centred    monitoring    push    hundreds    millions    realize    satisfaction    legs    usability    robot    load    cycle    augment    mixture    leaves    sme    workers    robotic    2015    exoskeletons    ergonomics    spinal    prevention    variables    unobtrusively    extensive    care    nature    musculoskeletal    sick    respect    scientific    assistive    technologies    transferring    human    15    first    robots    lost    upper    revolutionary    arms    pain    determined    days    worker    enclosed    actuation    ultimately    industrial    exoskeleton    technological    body    column    forms    sensorimotor    cold    strategies    walking    life    mechanism    spexor    back    adaptive    movement    daily    accounting    optimal    architecture    annually    employed    innovative    colourful    optimization    intervention    absenteeism    vocational    evaluation    motion    stress    health    interdisciplinary   

Project "SPEXOR" data sheet

The following table provides information about the project.


Organization address
address: Jamova 39
postcode: 1000

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Slovenia [SI]
 Project website
 Total cost 3˙989˙025 €
 EC max contribution 3˙989˙025 € (100%)
 Programme 1. H2020-EU.2.1.1. (INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT))
 Code Call H2020-ICT-2015
 Funding Scheme RIA
 Starting year 2016
 Duration (year-month-day) from 2016-01-01   to  2019-12-31


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    INSTITUT JOZEF STEFAN SI (LJUBLJANA) coordinator 570˙250.00
3    STICHTING VU NL (AMSTERDAM) participant 667˙375.00
4    VRIJE UNIVERSITEIT BRUSSEL BE (BRUSSEL) participant 650˙525.00
5    OTTOBOCK SE & CO. KGAA DE (DUDERSTADT) participant 521˙250.00
6    OTTO BOCK HEALTHCARE PRODUCTS GMBH AT (WIEN) participant 311˙250.00
7    S2P DOO SI (LJUBLJANA) participant 301˙375.00
8    STICHTING HELIOMARE NL (WIJK AAN ZEE) participant 289˙375.00


 Project objective

Low-back pain is the leading cause of worker absenteeism after the common cold, accounting for 15% of sick leaves and hundreds of millions of lost work days annually [Walking 2.0, Nature, 2015].

Most of today's robotic assistive devices are in forms of exoskeletons that augment the motion of legs and arms and neglect the role of spinal column in transferring load from the upper body and arms to the legs. In SPEXOR we will fill this gap and design a novel and revolutionary spinal exoskeleton to prevent low-back pain in able bodied workers and to support workers with low-back pain in vocational rehabilitation.

The concept to realize the objectives of SPEXOR is driven by several interdisciplinary ideas that push current understanding of low-back pain intervention through several innovative research and technological stages. First, robot-centred requirements for low-back pain prevention are determined and a musculoskeletal stress monitoring system is developed to unobtrusively measure the associated key variables. Then, optimal design parameters and sensorimotor strategies are provided with respect to the robot-centred requirements and their associated key variables. Based on these aspects, a spinal exoskeleton mechanism and its actuation is developed and adaptive control architecture is employed. Such research and development cycle is enclosed by multi-phase end-user evaluation, usability and satisfaction studies.

The project builds upon the partner's extensive experience with work ergonomics, modelling and optimization of human movement, design, control and evaluation of exoskeletons. Several beyond-the-state-of-art scientific approaches and technologies will be employed through a colourful mixture of research, industrial, SME and end-user partners of the consortium.

Ultimately, the results of SPEXOR will have a significant impact well beyond the current scientific understanding and technological capabilities of assistive robots used in daily life and health care.


List of deliverables.
Ethical approval for WP1 Documents, reports 2019-05-30 14:00:22
Ethics manual Documents, reports 2019-05-30 13:59:56
Formulation of high-level exoskeleton control Documents, reports 2019-05-30 14:00:42
Project website and newsletter Websites, patent fillings, videos etc. 2019-05-30 14:00:41
Ethical approval for WP6 Documents, reports 2019-05-30 14:00:14
Dissemination plan Documents, reports 2019-05-30 14:00:38

Take a look to the deliverables list in detail:  detailed list of SPEXOR deliverables.


year authors and title journal last update
List of publications.
2017 Goljat, Rok; Babič, Jan; Petrič, Tadej; Peternel, Luka; Morimoto, Jun
Power-augmentation control approach for arm exoskeleton based on human muscular manipulability : a tool to study, analyse and measure physical ability of robots
published pages: , ISSN: , DOI:
ISBN: 978-1-5090-4632-4 8 2019-06-18
2017 Zrinka Potocanac, Rok Goljat, Jan Babic
A robotic system for delivering novel real-time, movement dependent perturbations
published pages: 386-389, ISSN: 0966-6362, DOI: 10.1016/j.gaitpost.2017.08.038
Gait & Posture 58 2019-06-18
2017 Paul Manns, Manish Sreenivasa, Matthew Millard, Katja Mombaur
Motion Optimization and Parameter Identification for a Human and Lower Back Exoskeleton Model
published pages: 1564-1570, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2676355
IEEE Robotics and Automation Letters 2/3 2019-06-18
2016 Luka Peternel, Tomoyuki Noda, Tadej Petrič, Aleš Ude, Jun Morimoto, Jan Babič
Adaptive Control of Exoskeleton Robots for Periodic Assistive Behaviours Based on EMG Feedback Minimisation
published pages: e0148942, ISSN: 1932-6203, DOI: 10.1371/journal.pone.0148942
PLOS ONE 11/2 2019-06-18
2017 Millard, Matthew; Sreenivasa, Manish; Mombaur, Katja
Predicting the Motions and Forces of Wearable Robotic Systems Using Optimal Control
published pages: , ISSN: 2296-9144, DOI: 10.11588/heidok.00023563
Frontiers in Robotics and AI, Vol 4 (2017) 1 2019-06-18
2018 Koopman, Axel S.; Kingma, Idsart; Faber, Gert S.; Bornmann, Jonas; van Dieën, Jaap H.
Estimating the L5S1 flexion/extension moment in symmetrical lifting using a simplified ambulatory measurement system
published pages: , ISSN: 0021-9290, DOI:
Journal of Biomechanics, 70 1 2019-06-18
2018 Sreenivasa, Manish; Harant, Monika
ModelFactory: A Matlab/Octave based toolbox to create human body models
published pages: , ISSN: , DOI: 10.5281/zenodo.1137656
1 2019-06-18
2016 Jan Babič, Erhan Oztop, Mitsuo Kawato
Human motor adaptation in whole body motion
published pages: , ISSN: 2045-2322, DOI: 10.1038/srep32868
Scientific Reports 6/1 2019-06-18
2018 Faber, G. S.; Koopman, A. S.; Kingma, I.; Chang, C. C.; Dennerlein, J. T.; van Dieën, J. H.
Continuous ambulatory hand force monitoring during manual materials handling using instrumented force shoes and an inertial motion capture suit
published pages: , ISSN: 0021-9290, DOI:
ISSN=0021-9290;TITLE=Journal of Biomechanics 1 2019-06-18

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The information about "SPEXOR" are provided by the European Opendata Portal: CORDIS opendata.

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