Alan Alan did do un upside down straight jacket escape from a burning rope... and with years of experience, etc. he too fell and had a serious head injury.
I worked with Hans Moretti, who did the stunt for us at the IBM, in Norfolk, Virginia, at the pier. We had a huge crane lift him high in the air. It was spectacular, but it was rigged for safety and we had stuntman type padding below.
He had it set so that it "burned through" BEFORE he was fully out and started to fall, just making it. This was a beautifully staged, mechanically perfect stunt--that took him years to refine.