TWIICE - A lightweight lower-limb exoskeleton for complete paraplegics

Area of Science:

• Robotics
• Biomedical Engineering
• Rehabilitation Technology

Background:

• Paraplegia results in complete loss of lower-limb motor function, significantly impacting mobility and independence.
• Existing assistive technologies often have limitations in restoring natural gait and performing diverse daily activities.

Purpose of the Study:

• To introduce and describe the TWIICE lower-limb exoskeleton, a novel device designed for individuals with complete paraplegia.
• To evaluate the TWIICE exoskeleton's capability in enabling users to perform various mobility tasks.

Main Methods:

• The TWIICE exoskeleton is a lower-limb assistive device providing powered joint actuation for hip, knee, and ankle.
• The system's control strategy allows for autonomous execution of tasks such as level and inclined walking, stair negotiation, and sit-to-stand transitions.
• A single-user case study was conducted to assess the device's performance and usability.

Main Results:

• TWIICE successfully enabled a user with complete paraplegia to stand up and walk on level ground and inclines (up to 20°).
• The exoskeleton facilitated stair ascent and descent, as well as sitting and standing up maneuvers.
• The device demonstrated good performance in demanding tasks during participation in the Cybathlon 2016.

Conclusions:

• The TWIICE exoskeleton represents a significant advancement in assistive technology for individuals with paraplegia.
• Complete lower-limb mobilization by TWIICE is a crucial step towards restoring independence in daily living activities.
• Preliminary results indicate the potential of TWIICE to enhance mobility and quality of life for users with spinal cord injuries.