Twin - Title


(project ref. number: PR19-RR-P1)


The lower limb exoskeleton that allows spinal cord injured patients to walk independently. The strengths of this robotic device are his ease of use, his wearability and his portability.

In a short time TWIN will become a tool for clinical and rehabilitation use, with the possibility of providing feedback on the state of health of the patient being treated, of monitoring the main physiological parameters, also for safety purposes and of producing specific reports on progress and results, and customizing the route.

Twin - Photogallery

TWIN Gallery

Twin - Video gallery

Twin - Characteristics Description

Features and certifications


  • Wearable robot, autonomous, with integrated battery
  • Device for neuromotor rehabilitation of patients with locomotion and balance deficits following spinal injuries or strokes
  • Patient care as needed
  • Disassembly of the structure to facilitate the portability and fit of the system
  • Pitch kinematics completely configurable by the user
  • Ease of use

Twin - Publications Patents Description

Publications and patents

IIT Publications List

Lencioni T., Semprini M., Bandini V., Jonsdottir J., Maludrottu S., Marzegan S., Scarpetta S., Vassallo C., De Michieli L., Ferrarin M.
Motor control of the lower limbs while walking with the TWIN exoskeleton operated by TWINActa in healthy subjects
Vassallo C., Zinni G., Maludrottu S., Laffranchi M., De Michieli L.
Stairs and ramps ascent and descent: How to design feasible gait patterns for a powered lower-limb exoskeleton
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, vol. 2022-August
Semprini M., Lencioni T., Hinterlang W., Vassallo C., Scarpetta S., Maludrottu S., Iandolo R., Care M., Laffranchi M., Chiappalone M., et al.
User-centered design and development of TWIN-Acta: A novel control suite of the TWIN lower limb exoskeleton for the rehabilitation of persons post-stroke
Frontiers in Neuroscience, vol. 16
Laffranchi M., D'Angella S., Vassallo C., Piezzo C., Canepa M., De Giuseppe S., Di Salvo M., Succi A., Cappa S., Cerruti G., et al.
User-Centred Design and Development of the Modular TWIN Lower Limb Exoskeleton
Frontiers in Neurorobotics, vol. 15, pp. 129
Vassallo C., De Giuseppe S., Piezzo C., Maludrottu S., Cerruti G., D'Angelo M.L., Gruppioni E., Marchese C., Castellano S., Guanziroli E., et al.
Gait patterns generation based on basis functions interpolation for the TWIN lower-limb exoskeleton∗
Proceedings - IEEE International Conference on Robotics and Automation, pp. 1778-1784

Twin - Contact

Informations and details


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Team Leader: Stefano Maludrottu