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Soft modular biomimetic exoskeleton to assist people with mobility impairments

Total Cost €


EC-Contrib. €






 XoSoft project word cloud

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

exoskeleton    science    polymeric    basis    xosoft    limb    combined    wearer    flexible    modular    centered    life    technologies    lab    assists    medical    unilaterally    carbon    assistive    create    commercially    orthoics    refrain    robotics    otherwise    lower    textiles    assist    soft    smart    hip    mobility    independence    clinics    orientated    active    stiffness    weakness    nanotubes    clinicians    review    environments    persons    functions    performing    settings    comfortable    appropriate    assistance    first    levels    wear    rheological    individually    sensory    partial    impairments    revolutionary    extensively    health    films    tertiary    primary    therapist    people    subject    bilaterally    living    joints    sensing    market    actuation    device    fluids    intention    companies    either    actuators    trials    clinical    muscle    secondary    moderate    mainstream    ankle    quality    electro    tested    motion    connected    class    knee    materials    tactile    disabilities    biomimetics    nanowires    groups    home    connectivity    sensors    daily   

Project "XoSoft" data sheet

The following table provides information about the project.


Organization address
address: VIA MOREGO 30
city: GENOVA
postcode: 16163

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 Italy [IT]
 Project website
 Total cost 5˙422˙863 €
 EC max contribution 3˙680˙028 € (68%)
 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 2016-02-01   to  2019-01-31


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
3    UNIVERSITY OF LIMERICK IE (LIMERICK) participant 548˙513.00
5    STICHTING SAXION NL (ENSCHEDE) participant 460˙225.00
6    Össur hf IS (Reykjavik) participant 391˙500.00
8    ACCELOPMENT AG CH (ZUERICH) participant 0.00


 Project objective

The XoSoft project will develop a modular soft lower-limb exoskeleton to assist people with mobility impairments. The consortium includes 5 research groups and 3 companies each with EU project experience in exoskeleton/assistive orthoics development. XoSoft, a class I medical device, assists people with low to moderate levels of reduced mobility, enabling them to remain active performing tasks of daily living, which they would otherwise either refrain from doing or could not do. It can also be used in clinics by people with disabilities such as muscle weakness or partial loss of sensory functions. Being a modular system, it comprises an ankle, knee and hip which can be use individually or combined and used unilaterally or bilaterally. XoSoft is revolutionary: Soft robotics sensors and actuators will be developed using existing basis science concepts and integrated with connected health functionality. It will be the first commercially orientated soft exoskeleton for the mainstream mobility assistance market. XoSoft is a user centered design achieved by involving primary, secondary and tertiary end users throughout the project. It is easy and comfortable to wear, has a significant impact on the persons mobility and health, on their independence and quality of life. Advanced textiles and smart materials will be developed to create sensing, variable stiffness joints and actuation using technologies such as electro rheological fluids, flexible tactile sensors based on polymeric films with carbon nanotubes and nanowires. Control is through biomimetics to identify the user’s motion and intention and to determine and provide the appropriate level of assistance. Connected health connectivity and analysis enable the wearer and their clinicians/therapist to review activity information. The concept is tested extensively in the lab, is subject to trials in clinical settings and home environments.


List of deliverables.
User centred XoSoft Vision and PSS Concept Documents, reports 2019-10-29 14:54:35
End-user demo at tradeshows (XoSoft end-user roadshow) Demonstrators, pilots, prototypes 2019-09-13 13:34:15
Exoskeleton Cluster Day and Final XoSoft Symposium Demonstrators, pilots, prototypes 2019-09-13 13:34:15
Soft mechanical sensors Documents, reports 2019-09-13 13:34:15

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


year authors and title journal last update
List of publications.
2018 Bottenberg E, Erkens LM, Hesse J, Brinks GJ
The System Integration of Flexible Electronics into a Soft Exoskeleton
published pages: -, ISSN: 2329-9568, DOI: 10.4172/2329-9568.S4-020
Journal of Fashion Technology & Textile Engineering s4 2019-09-13
2017 M. Fatima Domingues, Nelia Alberto, Catia Leitao, Catia Tavares, Eduardo Rocon de Lima, Ayman Radwan, Victor Sucasas, Jonathan Rodriguez, Paulo Andre, Paulo Antunes
Insole optical fiber sensor architecturefor remote gait analysis - an eHealth Solution
published pages: 1-1, ISSN: 2327-4662, DOI: 10.1109/JIOT.2017.2723263
IEEE Internet of Things Journal 2019-09-13
2018 Jesus Ortiz, Tommaso Poliero, Giovanni Cairoli, Eveline Graf, Darwin G. Caldwell
Energy Efficiency Analysis and Design Optimization of an Actuation System in a Soft Modular Lower Limb Exoskeleton
published pages: 484-491, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2768119
IEEE Robotics and Automation Letters 3/1 2019-09-13
2017 Samuel L. Nogueira, Stefan Lambrecht, Roberto S. Inoue, Magdo Bortole, Arlindo N. Montagnoli, Juan C. Moreno, Eduardo Rocon, Marco H. Terra, Adriano A. G. Siqueira, Jose L. Pons
Global Kalman filter approaches to estimate absolute angles of lower limb segments
published pages: , ISSN: 1475-925X, DOI: 10.1186/s12938-017-0346-7
BioMedical Engineering OnLine 16/1 2019-09-13
2017 Maria Fátima Domingues, Cátia Tavares, Cátia Leitão, Anselmo Frizera-Neto, Nélia Alberto, Carlos Marques, Ayman Radwan, Jonathan Rodriguez, Octavian Postolache, Eduardo Rocon, Paulo André, Paulo Antunes
Insole optical fiber Bragg grating sensors network for dynamic vertical force monitoring
published pages: 91507, ISSN: 1083-3668, DOI: 10.1117/1.JBO.22.9.091507
Journal of Biomedical Optics 22/9 2019-09-13
2017 Andres F. Hidalgo Romero, Sergio Lerma-Lara, Eduardo Rocon
A predictive simulation approach suitable for gait control strategies design to be used on lower limbs assistive devices
published pages: 85-86, ISSN: 0966-6362, DOI: 10.1016/j.gaitpost.2017.06.302
Gait & Posture 57 2019-09-13
2017 Jaap Buurke, Corien Nikamp, Chris Baten, Christoph Bauer, Eveline Grav, Samuel Schuelein, Valerie Power, Leonard O’Sullivan, Adam de Eyto, Jesús Ortiz
XoSoft – Development of a Soft Modular Lower Limb Exoskeleton
published pages: 274, ISSN: 0966-6362, DOI: 10.1016/j.gaitpost.2017.06.413
Gait & Posture 57 2019-09-13
2018 Linda Shore, Valerie Power, Adam de Eyto, Leonard O’Sullivan
Technology Acceptance and User-Centred Design of Assistive Exoskeletons for Older Adults: A Commentary
published pages: 3, ISSN: 2218-6581, DOI: 10.3390/robotics7010003
Robotics 7/1 2019-09-13
2016 Laura Vargas-Valencia, Arlindo Elias, Eduardo Rocon, Teodiano Bastos-Filho, Anselmo Frizera
An IMU-to-Body Alignment Method Applied to Human Gait Analysis
published pages: 2090, ISSN: 1424-8220, DOI: 10.3390/s16122090
Sensors 16/12 2019-09-13
2017 Massimo Totaro, Tommaso Poliero, Alessio Mondini, Chiara Lucarotti, Giovanni Cairoli, Jesùs Ortiz, Lucia Beccai
Soft Smart Garments for Lower Limb Joint Position Analysis
published pages: 2314, ISSN: 1424-8220, DOI: 10.3390/s17102314
Sensors 17/10 2019-09-13
2018 Tjaša Kermavnar, Valerie Power, Adam de Eyto, Leonard W. O\'Sullivan
Computerized Cuff Pressure Algometry as Guidance for Circumferential Tissue Compression for Wearable Soft Robotic Applications: A Systematic Review
published pages: 1-16, ISSN: 2169-5172, DOI: 10.1089/soro.2017.0046
Soft Robotics 5/1 2019-09-13
2018 Chris T.M. Baten, Wiebe de Vries, Fanny Recher, Wouter Teeuw
XoSoft soft exoskeleton monitoring and feedback platform for kinematics, kinetics, behavioral context and control system status
published pages: , ISSN: , DOI:
Proceedings of the 8th World Congress of Biomechanics 2019-09-13
2018 Shore, L., de Eyto, A., & O’Sullivan, L.
Investigating Perceptions Related to Technology Acceptance & Stigma of Wearable Robotic Assistive Devices by Older Adults – Preliminary Findings
published pages: 1919-1937, ISSN: , DOI: 10.21606/dma.2018.477
Proceedings of Design Research Society Conference 2018 (DRS2018) 5, 16 2019-09-13
2019 Christian Di Natali, Tommaso Poliero, Matteo Sposito, Eveline Graf, Christoph Bauer, Carole Pauli, Eliza Bottenberg, Adam De Eyto, Leonard O’Sullivan, Andrés F. Hidalgo, Daniel Scherly, Konrad S. Stadler, Darwin G. Caldwell, Jesús Ortiz
Design and Evaluation of a Soft Assistive Lower Limb Exoskeleton
published pages: 1-21, ISSN: 0263-5747, DOI: 10.1017/s0263574719000067
Robotica 2019-09-13
2018 Graf, E.S., Bauer, C.M., Power, V., de Eyto, A., Bottenberg, E., Poliero, T., Sposito, M., Scherly, D., Henke, R., Pauli, C., Erkens, L., Brinks, G., O\'Sullivan, L., Wirz, M., Stadler, K.S., & Ortiz, J.
Basic functionality of a prototype wearable assistive soft exoskeleton for people with gait impairments a case study
published pages: 202-207, ISSN: , DOI: 10.21256/zhaw-3876
PETRA \'18 Proceedings of the 11th PErvasive Technologies Related to Assistive Environments Conference PETRA \'18 Proceedings of the 1 2019-09-13

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