Biomedical Robotics and Biomicrosystems Lab

EVRYON - Evolving Morphologies for Human-Robot Symbiotic Interaction


The Evryon project (Evolving Morphologies for Human-Robot Symbiotic Interaction) aims at providing a novel design methodology for harvesting the potentialities of structural intelligence in the development of Wearable Robots, using a design for emergence approach, where a symbiotic interaction between the robot and the human body is sought to achieve useful emerging dynamic behaviours.


The application chosen for testing the proposed design methodology is an active lower limbs orthosis intended for the restoration of a proper gait in aged subjects.

Relevant biomechanical properties of the human body are measured and given as input to a simulation environment able to reproduce the interaction between the human body and a robot.

This environment is functional to the design of the robot, which is obtained through an open-ended process where both morphology and control are co-evolved.

Novel hardware solutions (e.g. Variable Impedance Actuators and Joints, data fusion techniques, optimization algorithms derived from Particle Swarm Optimization) necessary to achieve the desired emergent dynamic behaviours among the human body, the robot and the environment are studied and finally implemented in the fabricated prototype.

The prototype will be finally tested on a population of aged people, in order to validate the novel design methodology.

The software tools developed within the project will ultimately be released as Open Source, and they will be available from the project portal:



Project outputs

  • A physics-based simulation environment (SE) where both a human body and a WR can be simulated;
  • An evolutionary environment, integrating the SE and an evolutionary algorithm, for the automatic design of morphology and control of wearable robots;
  • Novel actuators and joints with tunable dynamical properties (VIJs);
  • A novel soft artificial skin for human-robot interaction monitoring;
  • A prototype of an active lower limbs orthosis for restoring walking capabilities of aged subjects.

The EVRYON project is funded by the European Commission within the Seventh Framework Programme (Contract number FP7-ICT-2007-3-231451).




The consortium of the Evryon project consists of seven partners, from five different EU countries.

1. Università Campus Bio-Medico, Italy (Project Coordinator)
Laboratory of Biomedical Robotics and Biomicrosystems

2. Technische Universiteit Delft, The Netherlands
BioMechanical Engineering Department

3. Universiteit Twente, The Netherlands
Laboratory of Biomechanical Engineering

4. Ecole Polytechnique Federale Lausanne, Switzerland
Biologically Inspired Robotics Group

5. Scuola Superiore Sant'Anna, Italy
Advanced Robotics Technology and Systems Laboratory

6. Univerza v Ljubljani
Laboratory of Robotics

7. Budapest University of Technology and Economics

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