Enhancing TWIN Lower-Limb Exoskeleton Functionalities Through Sensorized Crutches and a Trunk Inertial Measurement Unit

Mobility impairments arising from neurological conditions like strokes and spinal cord injuries (SCI), as well as non-neurological factors, represent a substantial burden for individuals. Rehabilitation plays a crucial role in addressing these challenges, with a focus on restoring motor function and minimizing disability. The field of rehabilitation robotics is of central importance, particularly in development of lower limb exoskeletons, which are often associated with the use of crutches to provide support and stability. This study presents the integration of sensorized crutches and a trunk unit with the TWIN exoskeleton, a versatile lower limb exoskeleton designed for both clinical rehabilitation and personal use. By capturing data about crutch usage (i.e. applied force and orientation) and trunk posture, the proposed architecture enables innovative control strategies. These strategies, suitable to both clinical and personal settings, allow the implementation of semi-automatic step activation, and postural transfers such as sit-to-stand and stand-to-sit transitions. The proposed setup can be applied in both clinical and home settings, contributing to continuity of care application for robotic rehabilitation.