Opendata, web and dolomites


The CYBERnetic LowEr-Limb CoGnitive Ortho-prosthesis Plus Plus

Total Cost €


EC-Contrib. €






Project "CYBERLEGs Plus Plus" data sheet

The following table provides information about the project.


Organization address
city: PISA
postcode: 56127

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 4˙621˙125 €
 EC max contribution 4˙285˙200 € (93%)
 Programme 1. H2020-EU.2.1.1. (INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT))
 Code Call H2020-ICT-2016-1
 Funding Scheme IA
 Starting year 2017
 Duration (year-month-day) from 2017-01-01   to  2020-12-31


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
2    VRIJE UNIVERSITEIT BRUSSEL BE (BRUSSEL) participant 891˙250.00
5    IUVO SRL IT (PONTEDERA) participant 472˙587.00
6    UNIVERZA V LJUBLJANI SI (LJUBLJANA) participant 460˙312.00
7    Össur hf IS (Reykjavik) participant 311˙237.00


 Project objective

The global goal of the CYBERLEGs Plus Plus project is to validate the technical and economic viability of the powered robotic ortho-prosthesis developed within the framework of the FP7-ICT-CYBERLEGs project as a means to enhance/restore the mobility of transfemoral amputees and to enable them to perform locomotion tasks such as ground-level walking, walking up and down slopes, climbing/descending stairs, standing up, sitting down and turning in scenarios of real life. Restored mobility will allow amputees to perform physical activity thus counteracting physical decline and improving the overall health status and quality of life. This consortium will pursue the achievement of the global goal by addressing four specific innovation objectives. 1) Further developments of the existing CYBERLEGs hardware modules, namely the 2-degree-of-freedom active transfemoral prosthesis, the active wearable orthotic device, and the wearable sensory apparatus. 2) Further developments of the existing multi-layered CYBERLEGs control system, to enhance its reliable use in real-life scenarios. 3) Carrying out two multi-centre clinical studies, that validate the therapeutic potentialities and the economic viability of a robotic ortho-prosthesis which restores the amputees’ locomotion abilities in scenarios of activities of daily living. 4) Implementation of a 3-phase strategy to foster the start of the market exploitation within the time frame of the CLs\ project. This proposal focuses on the demonstration in an operational environment (TRL=7) from both the technical and economic viability view point of a modular robotics technology for healthcare, with the ultimate goal of fostering its market exploitation. The proposals involve players from academia, end users, as well as robotics and healthcare industry. Therefore this proposal fits the specific challenge of the scope c of the call H2020-ICT-25-2016-2017.


List of deliverables.
Report and journal paper manuscript from 1st clinical study Other 2019-10-29 14:10:33
Data Management Plan Open Research Data Pilot 2019-05-24 11:48:37
CLs++ dissemination means: website, brochure, Web2.0 tools Websites, patent fillings, videos etc. 2019-05-24 11:48:37
Report and journal paper manuscript about literature review Other 2019-05-24 11:48:34

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


year authors and title journal last update
List of publications.
2018 Louis Flynn, Joost Geeroms, Rene Jimenez-Fabian, Sophie Heins, Bram Vanderborght, Marko Munih, Raffaele Molino Lova, Nicola Vitiello, Dirk Lefeber
The Challenges and Achievements of Experimental Implementation of an Active Transfemoral Prosthesis Based on Biological Quasi-Stiffness: The CYBERLEGs Beta-Prosthesis
published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2018.00080
Frontiers in Neurorobotics 12 2019-10-10
2019 Elena Martini, Simona Crea, Andrea Parri, Luca Bastiani, Ugo Faraguna, Zach McKinney, Raffaello Molino-Lova, Lorenza Pratali, Nicola Vitiello
Gait training using a robotic hip exoskeleton improves metabolic gait efficiency in the elderly
published pages: , ISSN: 2045-2322, DOI: 10.1038/s41598-019-43628-2
Scientific Reports 9/1 2019-10-10
2018 Sophie Heins, Louis Flynn, Joost Geeroms, Dirk Lefeber, Renaud Ronsse
Torque control of an active elastic transfemoral prosthesis via quasi-static modelling
published pages: 100-115, ISSN: 0921-8890, DOI: 10.1016/j.robot.2018.05.015
Robotics and Autonomous Systems 107 2019-10-10
2019 C. B. Sanz-Morere, M. Fantozzi, A. Parri, F. Giovacchini, A. Baldoni, M. Cempini, S. Crea, D. Lefeber, N. Vitiello
A Knee–Ankle–Foot Orthosis to Assist the Sound Limb of Transfemoral Amputees
published pages: 38-48, ISSN: 2576-3202, DOI: 10.1109/tmrb.2019.2895789
IEEE Transactions on Medical Robotics and Bionics 1/1 2019-10-10
2019 Simona Crea, Silvia Manca, Andrea Parri, Enhao Zheng, Jingeng Mai, Raffaele Molino Lova, Nicola Vitiello, Qining Wang
Controlling a robotic hip exoskeleton with noncontact capacitive sensors
published pages: 1-1, ISSN: 1083-4435, DOI: 10.1109/tmech.2019.2929826
IEEE/ASME Transactions on Mechatronics 2019-10-10
2019 F. Aprigliano, V. Monaco, P. Tropea, D. Martelli, N. Vitiello, S. Micera
Effectiveness of a Robot-Mediated Strategy While Counteracting Multidirectional Slippages
published pages: 1-13, ISSN: 0263-5747, DOI: 10.1017/s0263574719000626
Robotica 2019-10-10
2018 Joost Geeroms, Louis Flynn, Rene Jimenez-Fabian, Bram Vanderborght, Dirk Lefeber
Energetic analysis and optimization of a MACCEPA actuator in an ankle prosthesis
published pages: 147-158, ISSN: 0929-5593, DOI: 10.1007/s10514-017-9641-1
Autonomous Robots 42/1 2019-06-11
2017 Nicolò d’Elia, Federica Vanetti, Marco Cempini, Guido Pasquini, Andrea Parri, Marco Rabuffetti, Maurizio Ferrarin, Raffaele Molino Lova, Nicola Vitiello
Physical human-robot interaction of an active pelvis orthosis: toward ergonomic assessment of wearable robots
published pages: , ISSN: 1743-0003, DOI: 10.1186/s12984-017-0237-y
Journal of NeuroEngineering and Rehabilitation 14/1 2019-06-11
2018 Lorenzo Grazi, Simona Crea, Andrea Parri, Raffaele Molino Lova, Silvestro Micera, Nicola Vitiello
Gastrocnemius Myoelectric Control of a Robotic Hip Exoskeleton Can Reduce the User\'s Lower-Limb Muscle Activities at Push Off
published pages: , ISSN: 1662-453X, DOI: 10.3389/fnins.2018.00071
Frontiers in Neuroscience 12 2019-06-11
2017 Andrea Parri, Elena Martini, Joost Geeroms, Louis Flynn, Guido Pasquini, Simona Crea, Raffaele Molino Lova, Dirk Lefeber, Roman Kamnik, Marko Munih, Nicola Vitiello
Whole Body Awareness for Controlling a Robotic Transfemoral Prosthesis
published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2017.00025
Frontiers in Neurorobotics 11 2019-06-11
2017 Virginia Ruiz Garate, Andrea Parri, Tingfang Yan, Marko Munih, Raffaele Molino Lova, Nicola Vitiello, Renaud Ronsse
Experimental Validation of Motor Primitive-Based Control for Leg Exoskeletons during Continuous Multi-Locomotion Tasks
published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2017.00015
Frontiers in Neurorobotics 11 2019-06-11
2017 Tom Verstraten, Joost Geeroms, Glenn Mathijssen, Bryan Convens, Bram Vanderborght, Dirk Lefeber
Optimizing the power and energy consumption of powered prosthetic ankles with series and parallel elasticity
published pages: 419-432, ISSN: 0094-114X, DOI: 10.1016/j.mechmachtheory.2017.06.004
Mechanism and Machine Theory 116 2019-06-11
2017 Andrea Parri, Kebin Yuan, Dario Marconi, Tingfang Yan, Simona Crea, Marko Munih, Raffaele Molino Lova, Nicola Vitiello, Qining Wang
Real-Time Hybrid Locomotion Mode Recognition for Lower Limb Wearable Robots
published pages: 2480-2491, ISSN: 1083-4435, DOI: 10.1109/TMECH.2017.2755048
IEEE/ASME Transactions on Mechatronics 22/6 2019-06-11
2018 Louis L. Flynn, Joost Geeroms, Tom van der Hoeven, Bram Vanderborght, Dirk Lefeber
VUB-CYBERLEGs CYBATHLON 2016 Beta-Prosthesis: case study in control of an active two degree of freedom transfemoral prosthesis
published pages: , ISSN: 1743-0003, DOI: 10.1186/s12984-017-0342-y
Journal of NeuroEngineering and Rehabilitation 15/1 2019-06-11
2017 Federica Aprigliano, Dario Martelli, Peppino Tropea, Guido Pasquini, Silvestro Micera, Vito Monaco
Aging does not affect the intralimb coordination elicited by slip-like perturbation of different intensities
published pages: 1739-1748, ISSN: 0022-3077, DOI: 10.1152/jn.00844.2016
Journal of Neurophysiology 118/3 2019-06-11
2017 V. Monaco, P. Tropea, F. Aprigliano, D. Martelli, A. Parri, M. Cortese, R. Molino-Lova, N. Vitiello, S. Micera
An ecologically-controlled exoskeleton can improve balance recovery after slippage
published pages: 46721, ISSN: 2045-2322, DOI: 10.1038/srep46721
Scientific Reports 7 2019-06-11
2019 F. Aprigliano, V. Monaco, S. Micera
External sensory-motor cues while managing unexpected slippages can violate the planar covariation law
published pages: 193-197, ISSN: 0021-9290, DOI: 10.1016/j.jbiomech.2019.01.003
Journal of Biomechanics 85 2019-06-11

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